CN105899177A

CN105899177A - Mobility aid

Info

Publication number: CN105899177A
Application number: CN201380081325.0A
Authority: CN
Inventors: 理查德·利特尔
Original assignee: REX BIONICS Ltd
Current assignee: REX BIONICS Ltd
Priority date: 2013-11-29
Filing date: 2013-11-29
Publication date: 2016-08-24
Anticipated expiration: 2033-11-29
Also published as: EP3073976A1; EP3463216A1; EP3073976A4; CN111821145A; CA3153774A1; CN105899177B; KR20160119756A; EP3073976B1; WO2015080596A1; WO2017208162A1; EP3463216A4; JP2016539775A; CA2931777C; AU2013406157A1; CA2931777A1; CN111821145B; US20160270997A1; CN115715736A

Abstract

A mobility or walking aid (WA) comprising an exoskeleton, a control system for controlling movement of the exoskeleton, and a power source for providing power to the exoskeleton and the associated control system. The WA system may be configured as a fully supportive system to assist a paraplegic user for example, or as a partially or fully supportive system to assist in the rehabilitation of a user with limited mobility. When a mobility impaired user is secured to the WA, the user is caused to move their joints and muscles through motions of walking, thereby assisting in the prevention of deterioration of a user's physiology. The WA is provided with various user customisable features and safety mechanisms including leg length adjustments, foot member adjustments, user size calibration and mechanical safety stop configuration.

Description

Walking aid

Technical field

The present invention relates to a kind of walking aid or a kind of walking aid, it is adaptable to support a disabled user, particularly relate to outside a kind of robot Skeleton is to help user's walking.

Background technology

The walking aid of robotic exoskeleton's form is it is known that be used for supporting and aiding a disabled user wholly or in part.Auxiliary dermoskeleton One example of bone is in Patent Cooperation Treaty (PCT) patent application of Application No. PCT/NZ2008/000351 of applicant Display, is contained in interior as reference at this.For assisting an example of an ectoskeletal control system in the Shen of applicant Please number be that the Patent Cooperation Treaty application of PCT/NZ2009/000130 shows, be contained at this interior as reference.

Along with the growth of the robot assisted for somatic damage person, it is improved the constant demand of the function of auxiliary medical equipment.Also It is improved the polyfunctional demand of equipment to help to reduce the demand set for complete user.This is in recovery area Be even more important considers, and the single equipment in this region may be shared between a plurality of users.

In this specification, referenced patent description, other external files or other psychological sources, this is generally for providing use Purpose in the content that inventive features is discussed.Unless specifically stated, should not be construed as with reference to such external file recognize these literary composition Part or these information sources, in any administrative area, be prior art, or form a part for general knowledge known in this field.

Therefore an object of the invention is to provide the walking aid of a kind of improvement, or provides to one useful selection of the public.

Summary of the invention

At first aspect, the present invention can broadly by including an ectoskeleton of an adjustable length leg member, described leg member with One first pivot location at one first other components connects, and a linear actuator is connected to described leg member and described first another Between external member so that the extension of described actuator or contraction cause described leg member relative to described first the axle of other component To rotation, wherein said actuator is connected with the actuator link position at described leg member, and described actuator connects Position separates along the described pin components from described first pivot location, and the length adjustment for described leg member will not shadow Ring and be in the length of leg member described in the part between described actuator link position and described first pivot location.

Preferably, described leg member is connected with the second position at one second other component in the axial direction, and one second linearly holds Between one second linear actuator and the described second other component that row mechanism is connected on described leg member, and described leg member Length adjustment do not interfere with the described of the part that is between described second actuator link position and described second pivot location Between leg member.

Preferably, described leg member includes one first leg section and one second leg section, and described first leg section includes described first Pivot location and described actuator link position, and described second leg section includes that described second pivot location and described second is held Row mechanism link position, described first leg section and described second leg section may be installed more than a relevant position to change described the Separation distance between one pivot location and described second pivot location.

Preferably, described ectoskeleton includes two leg structures, and each described leg structure includes a length-adjustable leg member.

A second aspect, the present invention can include an ectoskeleton widely, including a leg structure, described leg structure bag Include length-adjustable at least one leg member, one end of each described leg member in the axial direction with described ectoskeletal one first other structure Part connects, and the other end is connected with described ectoskeletal one second other component in the axial direction, and a line for each leg member Property actuator is connected to one first actuator link position of described leg member from the described first other component, and one linearly holds Row mechanism is connected to the described second other component, wherein said leg member from one second actuator link position of described leg member Length adjustment be limited in be between described first actuator link position and described second actuator link position described The region of leg member.

Preferably, described leg structure includes a length-adjustable leg member and a length-adjustable little leg member, and described greatly One end of leg member is connected with a basin bone pillar in the axial direction, one end of wherein said little leg member in the axial direction with described thigh structure Part connection and the other end and a foot component connect.

Preferably, described ectoskeleton also includes that one second leg structure, described second leg structure have a length-adjustable thigh structure Part and a length-adjustable little leg member.

In a third aspect, the present invention can include an ectoskeleton widely, and described ectoskeleton includes a length-adjustable limb component, Described limb component include one first leg section with one first pivotally connected position and with one first pivotally connected position one Two leg sections, described first leg section and described second leg section are integrally formed so that they relative the other side can regulate line along one Sliding, described ectoskeleton also includes that a governor motion, described governor motion fixedly regulate the phase para-position along described regulation line Putting, and a detent mechanism, described detent mechanism is independent of described governor motion, and also fixes described first leg section and described The relative position of the second leg section.

Preferably, described regulation line is straight line.

Preferably, described governor motion includes that an axle, one end of described axle connect with described first leg section or described second leg section Connecing, the other end is connected with a slit of described other first leg section and described other second leg section, and described in a mechanism operating Axle and/or described slit are to regulate the relative axial positions of the described axle in described slit.

Preferably, described mechanism will not respond the power between described little slit and described axle.

Preferably, described mechanism is the worm gearing with a rotatable input, is used for making a worm screw and a turbine rotate, The described turbine connected makes described axle rotate, and described worm screw connects described turbine.

Preferably, described first leg section and described second leg section include connecting rail component, bending stress transmission during use To between described connection rail component, and handle described detent mechanism between one first state and one second state, be in described During the first state, described rail component is pressed together, be in described rail component during described second state and be easier to slide.

Preferably, described detent mechanism is by described first leg section carrying, and includes the supporting surface in the face of described second leg section With a bar, described bar can operate between a primary importance and a second position, described primary importance with one slidably position be consistent, And the described second position is consistent with a latched position, described bar is made institute from described primary importance to the manipulation of the described second position State supporting surface against described second leg section.

Preferably, described detent mechanism extends to described first leg section from a ' locked ' zone, and described supporting surface is in the face of described the The described ' locked ' zone of one leg section, a part of described second leg section is positioned described supporting surface and the institute of described first leg section State between ' locked ' zone.

Preferably, described bar includes a central authority so that from the motion closing described bar of unlocked position to latched position, Originally required active force improves, and then reduces.

A fourth aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability user, Including:

One ectoskeleton, including:

One rigidity basin bone pillar component, for supporting the hip region of described user,

One first leg structure and one second leg structure, each described first leg structure and described second leg structure are connected to Extend out the one leg for supporting described user, and each described first lower limb on described basin bone pillar and from described basin bone pillar Portion's structure and described second leg structure include:

One thigh structural elements, for connecting the thigh of described user, one first end of described thigh structural elements leads in the axial direction Cross a hip joint to be connected with described basin bone pillar component,

One shank structural elements, for connecting the shank of described user, one first end of described shank structural elements leads in the axial direction Cross a knee joint to be connected with one second end of described thigh structural elements, and

One foot component, for connecting the foot of a user, described sufficient component is by an ankle joint and the one of described shank structural elements Second end connects.

One main hip actuator, one end is connected with the junction point on described basin bone pillar, the other end and on thigh structural elements First junction point is connected to perform described thigh structural elements relative to described basin bone pillar component around the rotation of described hip joint Turn,

One main knee joint actuator, one end is connected with the junction point on described thigh structural elements, on the other end and shank structural elements One first junction point be connected to perform described thigh structural elements relative to described thigh structural elements around described kneed Rotate,

One main sufficient actuator, one end is connected with one second junction point on described thigh structural elements, the other end and described sufficient component A junction point be connected to perform described sufficient component relative to described shank structural elements around described podarthral rotation,

One governor motion, is connected with described thigh structural elements, for adjusting the length of described thigh structural elements without changing Described junction point on described basin bone pillar and described first on the described thigh structural elements that is connected with described hip actuator connect Distance between point, does not change described second junction point on described thigh structural elements and described in being connected with described knee joint actuator The distance between described first junction point on shank structural elements, and

One governor motion, is connected with described shank structural elements, for adjusting the length of described shank structural elements without changing Described second junction point on described shank structural elements and the described junction point on the described sufficient component that is connected with described sufficient actuator Between distance.

At the 5th aspect, the present invention can include a structure foot component widely, for an ectoskeleton of a walking aid, institute State walking aid to be applicable to support the action obstacle people with disability user including a foot supporting zone, for being maintained at by the foot of user In, described sufficient supporting zone is adjustable relative to the position of a described ectoskeletal ankle joint so that the ankle of described user and ankle Align along at least one axle in joint.

Preferably, described sufficient supporting zone is adjustable with the ankle with described user in relative to the position of described ankle joint regularly Alignment, by least one pivot of described ectoskeletal described ankle joint.

Preferably, described sufficient supporting zone is adjustable with the ankle with described user in relative to the position of described ankle joint regularly Alignment, by one first transverse pivot of described ankle joint.

Preferably, described sufficient supporting zone regularly the position of the ankle joint relative to the axle orthogonal along two can in adjust.

Preferably, described sufficient supporting zone is adjustable relative to the described ankle joint of the longitudinal axis along described sufficient component.

Preferably, described sufficient supporting zone is adjustable relative to the described ankle joint along a longitudinal axis.

Preferably, described sufficient supporting zone connects at least one outside wall member, and described side wall member can along at least one axle Adjust to regulate the described supporting zone position relative to described ankle joint.

Preferably, described sufficient component also includes a substrate, and described outside wall member is from described base extension out.

Preferably, described side wall member is a heel pillar, is positioned at one end of described substrate for connecting a user's in use Heel.

Preferably, described heel pillar is adjustable in the position along a longitudinal axis of described substrate.

Preferably, the substrate with described sufficient component movably of described heel pillar is connected.

Preferably, the substrate with described sufficient component slidably of described heel pillar is connected.

Preferably, described sufficient component also includes a fixing device, operable between one first state and one second state, in institute Stating described heel pillar during the first state can be against described basesliding to adjust described heel pillar relative to described ankle joint Position, when described second state, described heel pillar is locked in the position relative to described ankle joint.

Preferably, described sufficient supporting zone is also connected with a stayed surface, for accommodating the foot of described user, described support table Face is adjustable in relative to the position along the described ankle joint of at least one axle.

Preferably, described stayed surface is adjustable in the position along a longitudinal axis.

Preferably, described sufficient component also includes one or more stacking board member, for connect a substrate of described sufficient component with Regulating the described stayed surface position relative to the described ankle joint along the described longitudinal axis, the uppermost plate using middle lamination is foot Portion provides described stayed surface.

Preferably, the thickness of multiple plates or each plate is described user alternatively, to regulate described stayed surface and described ankle Relative position on y direction, the joint.

Preferably, described sufficient component also includes that the pair of sidewalls extended out from the side of described substrate, each described sidewall have An internal edge corresponding with an external margin of one or more board members, is used for keeping described board member.

Preferably, described sufficient component also includes a connection piece, is used for connecting a described ectoskeletal ankle joint.

At the 6th aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability user, Including:

One ectoskeleton, including:

One rigidity basin bone pillar component, for supporting the hip region of described user, one first leg structure and one second leg structure, Each described first leg structure and described second leg structure are connected to extend on described basin bone pillar and from described basin bone pillar For supporting the one leg of described user, and each described first leg structure and described second leg structure include:

One shank structural elements, for connecting the shank of described user, one first end of described shank structural elements leads in the axial direction Cross a knee joint to be connected with one second end of described thigh structural elements so that described shank structural elements can relative to described greatly Lower limb structural elements rotates up in bending and the side extended.

One foot component, for connecting the foot of described user, described sufficient component is by an ankle joint and described shank structural elements One second end connects.Wherein, described sufficient component includes a governor motion, for regulating the foot of described user relative to along extremely The position of the described ankle joint of a few axle.

At the 7th aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability user, Including:

One ectoskeleton, including:

One first leg structure and one second leg structure,

One first foot component and one second foot component, each described first foot component and described second foot component lead to the most respectively Crossing an ankle joint to be connected with described leg structure, wherein said sufficient component includes a governor motion, for regulating the foot of described user Position relative to the described ankle joint along at least one axle.

An eighth aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability user, Including:

One ectoskeleton, including:

One shank structural elements, for connecting the shank of described user, one first end of described shank structural elements leads in the axial direction Cross a knee joint to be connected with one second end of described thigh structural elements so that described shank structural elements can relative to described greatly Lower limb structural elements rotates up in bending and the side extended, and

One machinery knee is spacing, is located relative to the position of described leg structure, be used for limiting described shank structural elements relative to Described thigh structural elements rotating range in the direction of extension, to prevent the excessively extension of described shank structural elements.

Preferably, spacing being positioned at of described knee closes on described kneed position.

Preferably, described knee spacing be included in front upwards one originate in described thigh structural elements a surface at least one Non-yielding prop is protruding.

Preferably, described shank structural elements includes a neighbouring described kneed elongated end, and being used for will the most in the direction of extension The non-yielding prop rotated around described knee joint is connected on a position, and on described position, a longitudinal axis of described shank structural elements is put down Row in a longitudinal axis of described thigh structural elements, further rotates also limiting described shank structural elements on described bearing of trend Prevent the excessively extension of the knee of described user.

Preferably, the spacing front that is included in of described knee upwards originates in the closing on for a pair an of surface of described thigh structural elements Non-yielding prop is protruding, and the elongated end of described shank structural elements includes that a clevis, described clevis have a pair rigidity arm, Each described rigidity arm is for being connected to a position by the supporting that rotates around described knee joint accordingly in the direction of extension On, on described position, a longitudinal axis of described shank structural elements is parallel with a longitudinal axis of described thigh structural elements.

Preferably, one or more described supportings are combined with described thigh structural elements.

In one embodiment, described ectoskeletal each described leg structure also includes, a knee joint actuator, one end with described greatly Lower limb structural elements connect and the other end be connected with described shank structural elements so that the extension of described actuator and contraction during, Described shank structural elements rotates around described knee joint, and wherein said knee is spacing is non-yielding prop, is positioned at described actuator hands On the path of arm with limit described actuator on one point on cause the extension of knee excessively extension and the contraction of described user.

At the 9th aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability user, Including:

One ectoskeleton, including:

One machinery knee is spacing, is located relative to the position of described leg structure to place described shank structural elements relative to described The rotation above an extended position in the direction of extension of thigh structural elements, a side of described shank structural elements on described position To parallel with a direction of described thigh structural elements.

At 1 the tenth aspect, the present invention can include an ectoskeleton widely, including a leg structure, has one first leg member, It is connected with one second leg member by a knee joint in the axial direction, and a mechanical knee is spacing is located relative to described leg structure Position is to place described second leg member relative to the rotation in the direction of extension of described first leg member, and position is on position of rotation Side, on described position, the direction of described second leg member is parallel with the direction of described first leg member.

At 1 the 11st aspect, the present invention can include an ectoskeleton widely, including a leg structure, has one first lower limb structure Part, is connected with one second leg member by a knee joint in the axial direction, and a mechanical knee is spacing is located relative to described leg and ties The position of structure is to limit described second leg member relative to described first leg member rotating range in the direction of extension, to place State the excessively extension of shank structural elements.

At the 12nd aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability and uses Family, including:

One ectoskeleton, including:

One thigh enclosing cover, is used for covering described thigh structural elements and having a pair collapsing upper cover part, for according to described thigh The size of structural elements regulates the size of described thigh enclosing cover, and

One shank enclosing cover, is used for covering described shank structural elements and having a pair collapsing upper cover part, for according to described shank The size of structural elements regulates the size of described shank enclosing cover, wherein said shank enclosing cover in the axial direction with described knee joint The described thigh enclosing cover closed on connects.

Preferably, described thigh structural elements includes pair of leg part, relative to shaft position scalable to regulate described thigh structure The length of component, collapses outer cover portion with described leg section to being connected, by described collapsing described in wherein said thigh enclosing cover Cover make the regulation of the length of described thigh structural elements cause response described thigh enclosing cover in regulation.

Preferably, described shank structural elements includes pair of leg part, relative to shaft position scalable to regulate described thigh structure The length of component, is collapsed outer cover portion with described leg section to being connected described in wherein said shank enclosing cover, is collapsed down by described Cover make the regulation of the length of described shank structural elements cause response described shank enclosing cover in regulation.

Preferably, described thigh enclosing cover includes a recess, for be positioned to the neighbouring governor motion of described leg section, Enable the user to be regulated the described shaft position of described leg portion relative by described recess.

Preferably, described shank enclosing cover includes a recess, for be positioned to the neighbouring governor motion of described leg section, Enable the user to be regulated the described shaft position of described leg portion relative by described recess.

Preferably, one of paired described outer cover portion of described thigh enclosing cover includes a flange portion, is used for collapsing and is contained in institute In one respective end of other parts stating outer cover portion.

Preferably, described flange portion includes labelling, and described labelling is along the one of the corresponding described thigh structural elements of described display Individual or multiple size part is placed longitudinally, described mark part or be based entirely on described flange portion and be contained in paired described lid Degree in part exposes.

Preferably, one of paired described outer cover portion of described shank enclosing cover includes a flange portion, is used for collapsing and is contained in institute In one respective end of other parts stating outer cover portion.

Preferably, described flange portion includes labelling, and described labelling is along the one of the corresponding described shank structural elements of described display Individual or multiple size part is placed longitudinally, described mark part or be based entirely on described flange portion and be contained in paired described lid Degree in part exposes.

At the 13rd aspect, the present invention can include a walking aid widely, it is adaptable to supports an action obstacle people with disability and uses Family, including:

One ectoskeleton, including:

One first leg structure and one second leg structure, each described first leg structure and described second leg structure are connected to Extend out the one leg for supporting described user on described basin bone pillar and from described basin bone pillar, each described first leg Structure and described second leg structure include:

One thigh enclosing cover, is used for covering described thigh structural elements, and size original place is adjustable with the chi with described thigh structural elements Very little coupling, and

One shank enclosing cover, is used for covering described shank structural elements, and size original place is adjustable with the chi with described shank structural elements Very little coupling.

In a fourteenth aspect, the present invention can include an ectoskeleton widely, including a leg member, described leg member with on a rare occasion Enclosing cover, described leg member and described enclosing cover include that two concertina section are to regulate the size of described enclosing cover with the chi with described leg member Very little coupling.

At 1 the 15th aspect, the present invention can include a method widely, for controlling an ectoskeleton the office that a user dresses The one or more actuator in territory, described actuator is connected with described ectoskeletal multiple main components, each described main component with One main part of described user is corresponding, and described method includes step:

Receive display one and need the input data of motion sequence；

Selecting from the memorizer pre-programmed exercise data showing one or more sequence instructions, described instruction is used for affecting described fortune Dynamic sequence, each described instruction is associated with the relative actuator motion for performing to instruct, wherein said pre-programmed motion number According to based on the check information relevant to the gait preference of the anatomical structure of a user and/or a user；And

The relevant described actuator for each described instruction according to upgrading moves and moves one or more described actuators.

Preferably, default step is to receive display one to need the input data of motion sequence；

Receive the anatomical structure of display one user and/or the verification data of the gait preference of a user.

Preferably, receive the described step of described verification data include the anatomical structure from one group of pre-stored or gait preference or both Combination in select.

Preferably, show that the data of the described anatomical structure of described user include showing the data of the size of a user.

Preferably, show that the data of a size of described user include showing the data of the lower limb length of a user and/or show described user The data of body weight.

Preferably, show that the data of the gait preference of described user include showing the data of a preference degree of hip inclination.

At 1 the 16th aspect, the present invention can include a method widely, for controlling an ectoskeleton the office that a user dresses The one or more actuator in territory, described actuator is connected with described ectoskeletal multiple main components, each described main component with One main part of described user is corresponding, and described actuator is driven to obtain a motion sequence being associated, institute by a motion diagram The method of stating includes step:

For each motion sequence in one or more, determine the one group of motion diagram needing the balance system that obtains to described user, Each described motion diagram is correlated with from different anatomical structures and/or gait preference, and

Storing groups of motion diagram in memory for each motion sequence, the most each motion diagram includes showing associated actuator The data of motion, the motion of described associated actuator performs to be associated with performing one or more sequences, and described sequence instruction is used for shadow Ring described motion sequence.

At 1 the 17th aspect, the present invention can include a control system widely, for controlling the ectoskeleton that a user dresses And the one or more actuator of local, described actuator is connected with described ectoskeletal multiple main components, each described main body structure Part is corresponding with a main part of described user, and described control system includes:

A verification for the gait preference of the anatomical structure and/or described user that receive display one user inputs data.

One user interface, needs the input data of motion sequence for receiving display,

One memory assembly, is used for storing pre-programmed exercise data figure, and described pre-programmed exercise data figure includes that display is for affecting The exercise data of one or more sequence instructions of described motion sequence, each described execution to for performing the relevant of described execution Actuator motion be associated, wherein one or more motion sequences include one group of motion diagram, each described fortune in motion diagram group Cardon is relevant to special anatomical structure and/or gait preference, and

One actuator control for according to the relevant described actuator for each described instruction of upgrading move mobile one or Multiple described actuators.

At 1 the 18th aspect, the present invention can include a method widely, for controlling an ectoskeleton the office that a user dresses The one or more actuator in territory, described actuator is connected with described ectoskeletal multiple main components, each described main component with One main part of described user is corresponding, and described method includes step:

Receive display one and need the input data of motion sequence, wirelessly from a remote equipment；

From showing memorizer pre-programmed exercise data one or more sequence instructions, described sequence instruction is used for affecting described motion Sequence, each described instruction is associated to the relevant described actuator motion being used for performing described instruction；

Move according to the relevant described actuator for each described instruction and move one or more described actuators.

At 1 the 19th aspect, the present invention can include a control system widely, for controlling the ectoskeleton that a user dresses And the one or more actuator of local, described actuator is connected with described ectoskeletal multiple main components, each described main body structure Part is corresponding with a main part of described user, and described control system includes:

One wireless receiver, for a remote equipment communication with a transmitter being associated and receive display one need motion The input data of sequence,

One memory assembly, for storing the pre-programmed exercise data showing one or more sequence instructions, described sequence instruction is used In affecting described motion sequence, each described instruction is associated to the relevant described actuator motion being used for performing described instruction, And

At one the 20th aspect, the present invention can include an ectoskeleton widely, including:

One leg structure, has the upper length-adjustable lower limb being connected at one first pivot location with one first other component Component, a linear actuators is connected between described leg member and the described first other component so that the extension of described actuator or Shrink and cause described leg member relative to described first at the axial-rotation of other component, wherein said actuator and described leg member One actuator link position connect, described actuator link position divides along the described pin components from described first pivot location Separate, and do not interfere with for the length adjustment of described leg member and be in described actuator link position and described first pivot location Between part described in the length of leg member, and

One structure foot component, is connected with the ankle joint at described leg structure in the axial direction, and described sufficient component has a foot and supports Region, in being maintained at by the foot of user, described sufficient supporting zone is adjustable relative to the position of described ankle joint so that The ankle of described user aligns along at least one axle with ankle joint.

At one the 21st aspect, the present invention can include an ectoskeleton widely, and described ectoskeleton includes length-adjustable having One leg structure of one leg member, described leg member includes one first leg section with one first pivotally connected position and with one One second leg section of the first pivotally connected position, described first leg section and described second leg section are integrally formed so that they can Sliding along a regulation line with relative the other side, described ectoskeleton also includes that a governor motion, described governor motion fixedly regulate Along the relative position of described regulation line, and a detent mechanism, described detent mechanism is independent of described governor motion and the most solid Determine the relative position of described first leg section and described second leg section, and

At one the 22nd aspect, the present invention can include an ectoskeleton widely, including:

One enclosing cover, it is adaptable to cover described leg member and include that two concertina section come with described for the size regulating described enclosing cover One size coupling of leg member.

At one the 23rd aspect, the present invention can include an ectoskeleton widely, and described ectoskeleton includes length-adjustable having One leg structure of one leg member, described leg member includes one first leg section with one first pivotally connected position and with one One second leg section of the first pivotally connected position, described first leg section and described second leg section are integrally formed so that they can Sliding along a regulation line with relative the other side, described ectoskeleton also includes that a governor motion, described governor motion fixedly regulate Along the relative position of described regulation line, and a detent mechanism, described detent mechanism is independent of described governor motion and the most solid Determine the relative position of described first leg section and described second leg section, and

In a twenty-fourth aspect, the present invention can include an ectoskeleton widely, including:

One leg structure, has the upper length-adjustable lower limb being connected at one first pivot location with one first other component Component, a linear actuators is connected between described leg member and the described first other component so that the extension of described actuator or Shrink cause described leg member relative to described first the axial-rotation of other component, described leg member adjustable length with meet described in One lower limb of user or limb length, and

One control system, is used for controlling described ectoskeleton and including:

One syndrome system, for receiving the input data of the anatomical structure showing described user,

One user interface, for receiving the on the offensive one input data needing motion sequence,

One memory assembly, includes showing the motion diagram of the pre-programmed exercise data of one or more sequence instruction, institute for storage State sequence instruction for affecting described motion sequence, each described instruction and the relevant described actuator for performing described instruction Motion is associated, and wherein one or more motion sequences include one group of motion diagram, and each described motion diagram in motion diagram group is with special Different anatomical structure, and

One actuator control, moves linear actuators for moving according to the relevant described actuator for each described instruction.

Wittingly, also include owning in the range of that with reference to a digital scope (for example, 1 to 10) disclosed herein The reference (for example, 1,1.1,2,3,3.9,4,5,6,6.5,7,8,9, and 10) of rational number and should in the range of Any scope (for Ju Li, 2 to 8,1.5 to 5.5 and 3.1 to 4.7) of rational number, therefore, clear disclosed herein The most therefore all subranges of all scopes explicitly disclose.These are only the examples of explanation, and cited are in minimum With all possible combination of numerical value between peak clearly set forth in application at this in a similar manner.

The term used in this description and claims " includes " that the meaning is " at least including a part ".When explaining this explanation Each statement in book and claim includes that term " includes ", it is also possible to proposed except other of that feature by term Feature.Relevant term such as " includes " and " comprising " should explain in an identical manner.

The term "and/or" meaning as employed herein be " with " or "or" or both have.

" (group) " meaning after noun used herein is plural number and/or the noun of singulative.

The present invention includes that content above is also in the face of the structure of only examples given below.

Accompanying drawing explanation

The preferred embodiments of the present invention describe by the way of only citing and relevant drawings, are described as follows:

Fig. 1 is the side schematic view of the preferable shape of walking aid of the present invention；

Fig. 2 be user use shown in Fig. 1 walking aid time front schematic view；

Fig. 3 a and 3b is the signal of the in-plant ectoskeletal hip joint observing preferred walking aid from front and side respectively Figure；

Fig. 4 is the perspective exploded view of ectoskeletal one leg portion structure in walking aid preferable shape；

Fig. 5 and Fig. 6 is in-plant to observe showing of ectoskeletal ankle arthrosis walking aid preferable shape from side and the back side respectively It is intended to；

Fig. 7 is the side perspective view of ectoskeleton preferable shape of the present invention；

Fig. 8 is the back perspective view of ectoskeleton preferable shape in Fig. 7, and the bonnet of pelvis support removes, to show internal control System electronic product；

Fig. 9 is the back perspective view of ectoskeleton preferable shape in Fig. 7；

Figure 10 is the fragmentary, perspective view of hip joint in Fig. 7 ectoskeleton preferable shape；

Figure 11 is leg structure and kneed fragmentary, perspective view in Fig. 7 ectoskeleton preferable shape；

Figure 12 is the fragmentary, perspective view of adjustable leg structure in Fig. 7 ectoskeleton preferable shape；

Figure 13 is the fragmentary, perspective view of the leg portion of adjustable thigh in leg structure；

Figure 14 is the fragmentary, perspective view of the lower leg portion of adjustable thigh in leg structure；

Figure 15 be currently preferred adjustable legs length leg structure in schematic diagram under thigh and shank shortening state；

Figure 16 is the fragmentary, perspective view of the locking mechanism that adjustable lower limb element in a relaxed state is relevant；

Figure 17 is locking mechanism that adjustable lower limb element in a relaxed state is relevant and leg portion relative moves in another The fragmentary, perspective view of the dynamic length to increase lower limb；

Figure 18 is the fragmentary, perspective view of the locking mechanism relevant to adjustable lower limb element, and in this figure, adjustable lower limb element is in increasing Add the lock-out state after leg length；

Figure 19 is the fragmentary, perspective view of the locking mechanism relevant to adjustable lower limb element, and in this figure, adjustable lower limb element is in lock Determine state；

Figure 20 is the fragmentary, perspective view of the locking mechanism relevant to adjustable lower limb element, and in this figure, adjustable lower limb element is in and puts The state of pine；

Figure 21 is the fragmentary, perspective view of the governor motion relevant to adjustable lower limb element；

Figure 22 is the kneed fragmentary, perspective view that adjacent knee is static；

Figure 23 is the perspective view of the lower limb lid of preferred ectoskeleton shape；

Figure 24 and 25 is the fragmentary, perspective view observing thigh lid from different perspectives；

Figure 26 is the side perspective view of the preferable shape of leg structure in the present invention；

Figure 27 is the back perspective view of the preferable shape of leg structure in the present invention；

Figure 28 is the decomposition diagram of the preferable shape of leg structure；

Figure 29 a-29j illustrates the sequence of motion figure static according to the ectoskeleton model under the preferred control system of walking aid；

Figure 30 a-30e illustrates according to the left dynamic sequence of motion figure of the ectoskeleton model under the preferred control system of walking aid；

Figure 31 a-31e illustrates according to the right dynamic sequence of motion figure of the ectoskeleton model under the preferred control system of walking aid；

Figure 32 a-32b illustrates according to the ectoskeleton model seated position sequence of motion figure under the preferred control system of walking aid；

Figure 33 a-33b illustrates the sequence of motion figure according to the ectoskeleton module stands state under the preferred control system of walking aid； And Figure 34 illustrates the principle summary figure of the preferred control system of walking aid.

Detailed description of the invention

1. summary

About Fig. 1 and Fig. 2, the diagrammatic view preferably moving shape or walking aid 100 of the present invention includes: an ectoskeleton 500, a control system 400 being used for controlling ectoskeleton 500, a power supply ectoskeleton 500 and relevant control system 400 Power supply.Walking aid 100 can be configured my a kind of system supported completely, with help paraplegia patient in example or User 200 rehabilitation helping there is limited locomotivity it is used for as a support system partially or completely.But a mobility Impaired user obtains walking aid, and this user can have by the way of walking joint and the muscle moving them, therefore, it is possible to Patient is helped to prevent the deterioration of physiological function.

2. ectoskeleton

Ectoskeleton 500 is that a kind of dynamo-electric framing structure is worn by with open air, and exterior arrangement supports lower limb and the waist of user, at least It is used for assisting the user of walking motions.Ectoskeleton 500 includes: a pair leg structure 510 and 520, is used for receiving respectively With the lower limb maintaining user；A pair foot element 530 and 540, is used for receiving respectively and maintaining the foot of user；With pelvic cavity supporting element Or hip framework 550, it is used for receiving and maintaining pelvis and the buttocks of user.Every thigh structure 510/520 includes thigh element 511/521 and shank element 512/522.Thigh and shank element one are only with respect to the paired movement of another knee joint 513/523. Each thigh element 511/521 also can be the most paired relative to buttocks joint 514/524 move relative to lateral buttocks, and shank Personnel 512/522 also can move relative to the foot's element 530/540 on ankle joint 515/525 in pairs.In this way, Can provide a structure, this structure at least partly imitates the region that the motor capacity of a people is relatively low.

2.1 leg structure

Ectoskeleton includes a pair moveable leg structure 510 and 520, and this leg structure is connected to hip framework 550 and foot unit Part 530/540 and be configured to assist user lower limb motion.Every leg structure 510/520 includes thigh element 511/521, Shank element 512/522 and relevant execution structure 570/580, described relevant execution structure is used for affecting thigh and shank element leads to Cross the knee joint 513/523 motion relative to another, by hip joint 514/524 relative to the motion of buttocks 550, pass through Ankle joint 515/525 supports the motion of 530/540 relative to corresponding foot.At least one, it is desirable that, thigh element 511/521 Leg length can be regulated according to the dissection of user/lower limb dimension, to customize ectoskeleton 500 with shank element 512/522.

Hip joint and knee joint

Also mentioning Fig. 3 a and Fig. 3 b, in a preferred embodiment, each thigh element 511/521 is pivotally attached to respective buttocks 550, by hip joint 514/524 at thigh element 511/521 upper end 511a/512a.Each hip joint 514/524 at least Individual axle makes thigh element 511/521 and hip framework 550 rotate against, it is desirable that pairwise orthogonal axle.Particularly, each hip closes Joint 514/524 makes main shaft 514A rotate against, and to realize buttocks/leg curvature, buttocks/lower limb stretching is at ectoskeleton.Main shaft 514A is so that the lower limb of user moves in the direction of front and rear along sagittal plane relative to the buttocks of user.Each hip joint 514/524 further rotates two secondary axes 514B, with the action received in realizing ectoskeletal lower limb abduction and lower limb.Two grades of axle 514B energy The lower limb of user is made to move along the direction of outside coronal plane and inner side relative to the buttocks of user.In a preferred embodiment, hip joint 514 and 524 make rotating against with spreading range in buttocks frame 550 hip joint from 0 to 20 between thigh element 511 and 521 Degree and hip joint ranges are from 0 to 78 degree, and in one leg abduction and one leg, receipts scope is about 0 to 12 degree, preferably 0 to 6 degree.Thankfully, these scopes can be configured to depend on the range of movement of required ectoskeleton 50.The most real Executing in example, the form of hip joint rises jointly.The movement of each hip joint 514/524 is limited, outside and the motion of inner side Direction is processed determined by a pair laterally aligned plastics, shrub, the preferably Flos Rosae Rugosae node of acetyl.

Particularly quoting Fig. 3, Figure 10 and Figure 12, flange or the fork 558 that is rigidly connected of the vertical alignment of hip joint 514/524 will Partially or completely limit, prevent thigh structural detail 511/512 in transverse plane pivoting action, restricted part or complete, prevent Lower limb element 511/512 rotates relative to outside outer shaft or inner side.This motion limits the length of stroke the most to a certain extent Degree, with each lower limb actuator 571a, b/581a, b are associated.

In a preferred embodiment, each hip joint 514/524 defines a hip axle 514A/524A, and described hip axle is used for giving The front/rear direction motion of the axle that the approximation nature axle of the buttocks of relative localization or user rotates.In a preferred embodiment, each hip closes Joint 514/524 configuration relative to hip framework 550 rotary shaft 514A/524A, keep falling extending transversely, angle 0 to 10 degree, preferably about 4 degree.The inclination angle 514A/524A of rotary shaft imitates the thigh alignment of the mankind.Tendency means walking aid Foot elements into intimate together, it is allowed to the support that the center (being usually located in the middle of pelvis) of more natural transfer mass to foot provides Intra-region elements, when walking aid is controlled by a walking movement.

As shown in Figure 4, in each thigh element 511/521 of a relative lower end 511b/521b, a knee joint 513/523 Paired pivot thigh element 511/521 to a upper end of respective shank 512/522.Each knee joint 513/523 can Rotate against between respective thigh and shank.Each axle 513a/523a is used for guaranteeing relative to thigh element 511/521, Shank extension and shank bending.Each axle 513a/523a essence is parallel to the crown of hip joint axle 514, transverse section and user Face, it is allowed to after rotation and/or front to.By axle 513a and 523a, knee joint 513 and 523 makes shank bending range 0 In 100 degree.Thankfully, the scope of these configurations depends on the range of movement of required ectoskeleton 50.The most real Executing in example, knee joint arranges with the form of roller bearing.Each knee joint 513/523 may be by big distortion power or lateral Power, causes the roller bearing of axle power to arrange.For this reason, each knee joint also will include that one is configured to resist axle effect In knee joint 513/523.Particularly two thrust bearing 513a, b/523a, b provide in arbitrary side of knee joint 513/523. Thrust bearing 513a, b/523a, b are to be arranged and knee lock-screw by knee pin 513c/523c and nut 513d/523d 513e/523e fixes.

In a preferred embodiment, the longitudinal axis of each thigh element 511/521 is to offset the main shaft relevant to knee joint 513/523 513A/523A.Each axle 513A/523A is positioned at after the longitudinal axis being associated with thigh element 511/521 (before user's walking Enter direction).The longitudinal axis of each shank element 512/522 is come by the pivot 513a/523a being associated with knee joint 513/523 Operation.The form of human skeletal is replicated with the counteracting of thigh and knee joint, the knee joint sum of each user that guarantees correctly to align Ectoskeletal knee joint, thus avoid the knee joint pressure of any user and alleviate or prevent knee joint injury.

With reference now to Fig. 5 and Fig. 6, the low side 512b/522b of each shank element 512/522, by ankle joint 515/525 even Receive respective foot element 530/540.This is the specification described in further details of leg structure part.Each ankle joint 515/525 can support that respective shank and foot rotate against between at least one, it is preferred that pairwise orthogonal axle.Particularly, often Individual ankle joint can make main shaft 515a/525a rotate against, to realize ankle/dorsiflexion of foot and ankle/foot plantar flexion motion.Main shaft 515a/525a is significantly to be parallel to hip joint and knee joint endoprosthesis axle 514A and 513A/523A and the crosspiece face of user, coronalplane, And allow to rotate higher level and subordinate direction.Each ankle joint is preferably further configured to allow to rotate against, two secondary axes 515B / 525B is the most orthogonal with main shaft 513A/523A, it is achieved ankle/reversion foot and ankle or foot turn up action.Two grades of axle 515B/525B Be generally parallel user in transverse section and sagittal plane, and allow to rotate in outside and direction, inner side.Each ankle joint 515/525 Support the foot element 530/540 rotating against and being associated between shank element 512/522, at neutral position foot element Arbitrary side of 530/540, relevant main shaft 515A/515B is in the range of 0-30 degree, and the second axle and 515B/525 scope are big About at 0-10 degree, more preferably in the range of 0-6 degree.In a preferred embodiment, ankle joint is Flos Rosae Rugosae joint.Each ankle joint The outside of 515/525 and the direction of motion of inner side are limited, a pair laterally aligned plastics, shrub process, preferably acetyl Flos Rosae Rugosae node.

In a preferred embodiment, each ankle joint 515/525 is configured for main rotating shaft 515A/525A and extends to down, side to Angle between 0 and 6 degree, preferably at about 4 degree.

Thankfully, in alternate embodiment, buttocks 514/524, knee 513/523 and ankle arthrosis 515/525 may It is configured, to guarantee that relevant portion can rotate against along the combination in any of sagittal, the sagittal plane of user, crown and/or horizontal root Complexity according to required walking aid 100 is relevant.Such as, in alternative embodiments, knee joint 515 and 525 it is also possible that Shank rotate against abduction and interior receipts, and/or hip joint 514 and 524 is likely to realize inside horizontal abduction/adduction and/or side Rotate.According to the function that the relevant mankind are common, motion or degree of rotation may be limited in any these one or more faces System is in one or more directions.

Lower limb actuator

With particular reference to Fig. 3 a, 3b, 7 and 10, in a preferred embodiment, each thigh element 511/521 and corresponding buttocks Framework 550 connects a both thighs actuator 571a, b/581a, b in real time.Dominant electromechanical actuator 571a/581a is that one end applies It is connected on a junction point of thigh element 511/521 and hip framework 550 opposite end connects, and during driving, joined Put so that thigh element 511/521 rotates relative to main shaft 514A and the hip framework 550 of hip joint 514/524.Secondary is dynamo-electric Actuator 571b/581b is that one end applying is connected on a junction point of thigh element 511/521 and hip framework 550 is respective In an opposite endpoint on one side, and it is configured so that thigh element 511/521 is relative to two grades of axles of hip joint 514/524 The buttocks 550 of 514B rotates.Junction point is separately fixed at the relative position being positioned at thigh element with hip joint.Primary and two grades of causes Dynamic device 571a, b/581a, b are linear actuatorss.The arm extending each actuator causes the element 511/521 of corresponding lower limb to exist One direction rotates around respective axle, and the actuator of contraction makes lower limb element 511/521 rotate around the direction that respective axle is contrary.Line Property motion actuator by hip joint 514 and 524, be converted into the pivoting action of lower limb.

In order to provide the low profile of ectoskeleton 500, each linear actuators is arranged substantially parallel to corresponding thigh element. Each primary actuator 571a/581a is attached on junction point, described junction point hip framework 550 on, be positioned at hip close After joint 514/524 (ectoskeletal the forward motion direction), and it is configured two big main normal axis, such as, moves in front portion With outside and direction, inner side in the sagittal plane direction at rear portion and transverse plane.Each secondary actuator 571b/581b is to connect On point, described junction point hip joint 514/524.And it being configured master/revolving actuator, about 1/3rd axles are just Two axles handed over, such as move in higher level and the direction of subordinate in coronal plane.

With particular reference to Fig. 7, in a preferred embodiment, the lower limb element of thigh 511/521 and shank 512/522 and the knee joint of knee Joint 513/523, is associated with knee actuator 572 and 582.Every leg structure 510/520 includes knee actuator 581/582, it connects upper thigh 511/521 and the leg structure 510/520 of shank 512/522 in real time.Knee actuator The movement of 572/582, causes the relevant shank element 512/522 knee joint 513/523 relative to thigh element 511/521 Rotate.Each knee electromechanical actuator 572/582 associates the junction point that one end applies to be connected on thigh 511/521, opposite end Connect shank element 512/522, and be configured the 513A/523A axle of the knee joint 513/523 of mobile shank element 512/522. Junction point is separately fixed at position relative on thigh and knee joint.Each knee actuator is a linear actuators 572/582. The actuator 572/582 of extension causes corresponding shank element 512/522 to move at an axis of orientation 513A/523A, and causes The contraction of dynamic device causes lower limb element in the opposite direction shifting axle 513A/523A.The motion of linear actuators 572 and 582 is led to respectively Cross knee joint 513/523 to be converted into the pivot of shank element 512/522 and move.

In order to provide the low profile of ectoskeleton 500, each knee linear actuators 572/582 is arranged substantially parallel to accordingly Thigh element and shank element 511,512/521,522.Each actuator 572/582 is attached to shank element 512/522 Upper end 512a/522a, significantly around an axle rotating parallel in axle kneed 514/524.

The linear actuators used is preferably low voltage and direct current (DC) actuator, is carried out by a sensor on the actuator Position is fed back.Under normal circumstances, each actuator will be drawn by the driving worm gear (not shown) of an electro-motor (not shown) Rise mobile, cause actuator arm extension or shrink.

Thankfully, in alternative embodiments, the configuration of any amount, type and actuator may utilize well-known Mechanical art realize required thigh and the rotary motion of shank element, as described by articular portion in description Equally.

Size adjusting

According to Figure 12-21, in order to allow user adaptation walking aid under the mode of a safety, it is important to guarantee hip joint Spacing between 514/524, and knee endoprosthesis 513/523 and foot joint 515/525 be suitable.Suitable location should It is such, being closely located to of joint natural joint corresponding with user as far as possible.Adjust hip joint, knee joint and ankle joint Position, is to be come in fact by the effective length of adaptive regulation thigh structural detail 511/521 and shank structural detail 512/522 Existing.

Thus governor motion is used for regulating each lower limb element 511/512/521/522, thankfully, one or more these Element 511/512/521/522 can be regulated by a guiding mechanism or provide, but in a preferred embodiment, each element is can Adjust, for improving practicality and the versatility of ectoskeleton 500, specifically will be described below.

The length adjustment of lower limb element 511/512/521/522 can cause the junction point being associated with actuator 571-573/581-583 Reorientate.In order to alleviate the needs adjusting actuator with the length adjustment of lower limb related elements, it is provided that a kind of mechanism, this machine In structure, the constant distance of every pair of junction point relevant to actuator is maintained by the regulation of lower limb element leg length.In other words, right The actuator of junction point and the ectoskeletal junction point of another element (hip framework, such as foot or other elements on each lower limb element Lower limb element), the length adjustment of lower limb does not affect the length thereof of the lower limb of lower limb element, this part between actuator junction point (or point on Actuator connection leg and relevant trochoid).Adjust by this way the length of lower limb of lower limb element be limited to one regional Lower limb element part, this part is between actuator junction point, and this is for all and lower limb element preferred case of related actuator Example.

In preferred embodiment, every lower limb element includes first and second leg sections, and this part can slide axially relative to another Part, adjusts along a line.Article first and second, leg section is fixing in the mutually countershaft middle position of more than one.Guiding mechanism Or system provides fixed adjustment line to carry out relative position adjustment, and include the method that a single locking mechanism independently adjusts, It is further ensured that the relative position of first leg section and second leg section, or loosens them, it is sufficient to change guiding mechanism and change Covert to position.Guiding mechanism includes the axle that one end connects, and this connection end one end Article 1 or second leg section, the other end exists First or Article 2 leg section hole on, and mechanism operating axle, hole or the mechanism of both position adjustments to axial.The One leg part and Article 2 leg section include the track component participated in, and this locking mechanism is to press guide rail component together wherein First condition and manipulation between this track component the second state more slidably.

In a preferred embodiment, each upper leg member 511/521 includes the first leg portion 511a/521a and second largest leg Divide 511b/521b.In the first and second leg portion 511a, b/521a, b are movably coupled to each other, the most slidably Ground engages, and makes their relative position be adjusted with the longitudinal axis along described parts.In the first and second leg portion The adjustment result of the total length of the relevant upper leg member 511/521 in 511a, b/521a, b causes the adjustment of relative position.? In this mode, ectoskeleton 500 can adjust, to adapt to the lower part of the body size of user.

As shown in figure 13, each knee actuator 572/582 at preferred embodiment is operably linked to lower limb on corresponding equally The lower leg portion 511b/521b of element 511/521 and leg portion 512a/522a of lower lower limb element 512/522.Lower leg portion 511b/521b will not change its position relative to 512a/522a.By this way, each upper pin components 511/521 is total The adjustment of length does not interferes with the connection distance between knee actuator.Which reduce and need to adjust knee actuator 572/582 Length, to adapt to the adjustment of the length of leg member 511/521 on described.

As shown in figure 13, with preferred embodiment similarly, each knee actuator 572/582 is operably linked to accordingly The lower leg portion 511b/521b of thigh element 511/521 and leg portion 512a/522a of shank element 512/522.In order to Regulating the effective length of each thigh element 511/521, the lower leg portion 511b/521b of thigh element 511/521 does not change it Position relative to leg portion 512a/522a of shank element 512/522.In this manner, each thigh element 511/521 Total length do not affect the distance between knee actuator junction point.Alleviate the length of regulation knee actuator 572/582 with suitable Answer the needs of thigh element 511/521 length adjustment.

Equally, each ankle actuator 573a in a preferred embodiment, b/583a, b are for being operably connected to corresponding calf 511b/521b is divided to neutralize foot component 530/540.Regulating the effective length of each shank element 512/522, lower leg portion 512b/522b does not change relative to its position of foot part 530/540.By this way, each shank element 512/522 is total The adjustment of length does not interferes with the distance between the connection of ankle actuator.Which reduce and need to adjust ankle actuator The length of 573a, b/583a, b, to adapt to the adjustment of the length at shank element 512/522.

One governor motion 800, in the first and second leg portion 511a, is arranged between b/521a, b, respective leg member 511/512, and at the first and second lower leg component 512a, the guiding mechanism 800 arranged between b/522a, b.Governor motion is present Reference leg parts 511 are described it should be understood that, identical principle is applicable to other pin components 521/512/522.

With reference to Figure 21, governor motion 800 is for changing the position to axial between said two part 511a and 511b.Institute State governor motion and include an axle 812, the preferably form of driving screw 812, at its one end and the described first or second leg section, A connection in preferably Part I 511a, and in the other end part (preferably second with the hole 813 of another one leg Leg section 511b).Axle 812, this hole or both can handle the axle 812 adjusted in pod, and regulate leg portions 511a Axial location with 511b.

In a preferred embodiment, mechanism is included in the worm screw in described hole and has rotatable input driving 813, is used for rotating a snail Take turns and be connected to rotary shaft 812, the worm gear of worm engaging worm gear.

Driving screw 812 at one end is engaged by the end of screw thread and Article 1 big straddle 511a, and is threadably engaged with in opposite end The worm gear 813 rotated to worm gear 813 makes leading screw 812 rotate, and depends on rotating to draw or to push away respective end the first leg portion 511a Direction, thus the first leg portion 511a relative to second on leg section 511b slides on corresponding linear direction.Have Hole, preferably in the form of rotatable bearing 814, is used for the instrument that receives or the rotatable bearing of hex tool 814, is connected to Worm gear 813 makes parts 511a and 511b relative to that via bearing with the insertion enabling the manual rotation instrument to worm gear 813 This moves/slides.

In a preferred embodiment, driving screw 812 is possible to prevent the movement of part 511a and 511b relative to each other to slide, and does not has snail Wheel 813 rotation, this guiding mechanism 800 thus be fixed on rotation section 511a, the 511b of two leg portions, and provide use In regulating the position to axial of described part regularly, with the method changing the length of pin components 511.

In a preferred embodiment, driving screw 812 is possible to prevent relative to each other part 511a and the sliding motion of 511b or movement, There is no the rotation of worm gear 813.This guiding mechanism 800 thus be fixed on the rotation section 511a, 511b of two leg portions relative to Each other and provide the position to axial for regulating described part regularly, with the method changing the length of pin components 511.

With reference to Figure 15, in a preferred embodiment, Gu be added with on the governor motion 800 of locking mechanism arrange promising can lock/ The composition of fixed condition state, the most corresponding first and second foot parts be locked/are fixed against the most exercisable additional lock Determine mechanism's relative movement, and between the two sections relatively longitudinally/axial location changes, and one loosen/movable condition/ State, in this state, corresponding first and second parts are released by the engaging of a perfect rigidity, so that relative motion, and in phase To two parts between relative to the change of longitudinal direction/axial location.

Such as, Figure 16 shows first and second leg portion 511a and 511b latch-up structure under conditions of loosening, with And Figure 18 shows identical guiding mechanism 800 in the locked state.

With reference to Figure 16-21, the operation of assembly and locking mechanism will be described and now in further detail with reference to thigh element 511 The first and second leg portion 511a and 511b illustrate.

Article 1, leg portion 511a includes composition surface or track component (or multiple) 801 structure, slidably engages relatively Composition surface or track component (multiple) in assembled state Article 2 leg portion 511b 802.Composition surface 801 The plane the biggest with 802, but can include that complementary shape thing is for making sliding engagement (such as rib and groove structure) alternatively. This locking mechanism is pressing guide rail component first condition together and be second freely mutually slided at this track component wherein Between state operable.Locking mechanism is implemented by Article 2 leg section 511b, and includes the one of Article 1 leg section 511a Individual supporting surface, at least one control bar 810 is between the first position and the second position, and moveable state correspond to first Position, lock-out state correspond to the second position.The operation controlling bar 810 from primary importance to the second position is pushed against described the The supporting surface of one leg section.Described control bar includes a central authority so that from unlocking the shifting to latched position of the Guan Bi bar Dynamic, originally required power increase, and then reduces.

In a preferred embodiment, first leg portion 511a also includes four (but the most any amount of one or more) hole 803, each being configured by receives the securing member 804 being associated of this locking mechanism there.Extending through of each hole 803 Through leg section 511a from the apparent surface 805 of 801 to the first leg portion 511a of composition surface.

In a preferred embodiment, pair of holes 803a is in the side of Article 1 leg portion 511a, and second couple of hole 803b is first The opposite side of individual leg portion 511a.Article 2 leg portion 511b includes that a pair elongated passage 806a and 806b is (but also Can be the quantity according to corresponding hole 803 and position arranges one or more passage) correspond to respectively two couples of hole 803a and 803b's.Particularly, passage 806a is configured to align with hole 803a, when the surface 801 and 802 of said two part is nibbled During conjunction, and passage 806b is configured to align with hole 803b, when the surface 801 and 802 of said two part is engaged. Passage 806a and 806b is substantially parallel, and along the length extension of Article 2 leg portion 511b.The length of passage defines The range of accommodation of ectoskeletal leg portion 511 length.Securing member 804 is by each from Article 2 leg portion 511b Passage 806a or 806b extends the surface 805 of Article 1 leg portion 511a.One or more base stations, it is also possible to be arranged on Either one or two part of 511a and 511b, to limit the scope being provided length adjustment by mechanism 800.

Locking the relative position of described first and second leg portion 511a and 511b, locking mechanism is operated by each The head of the either end of securing member 804 places the securing member of outside tension force, it is ensured that the position of securing member 804 is in respective passage In 806.In order to loosen being rigidly connected between the two part, and enabling the adjustment of relative position, locking mechanism is by unclamping Fastener head allows 804 to move along respective passage 806.

Specifically referring to Figure 19 and 20, the governor motion 800 of preferred form includes a wedge 807, with each securing member 804 phase The packing ring 808 of association.In the assembled state, wedge 807 is positioned against the position on Article 2 leg member 511b surface, surface 809, And relative to mating surface 802 and adjacent or bridge respective passage 806, and the position of packing ring 808 is positioned at wedge 807 And between the head 804a of a securing member 804.Wedge 807 slope along its longitudinal axis moves to from relatively large end 807a relatively Little end 807b.As shown in Figure 20, in the relaxation state position controlling bar 810, wedge 807 is positioned at relatively small On the adjacent packing ring 808 of end 807b, the head 804a of securing member 804 and the surface 809 of Article 1 leg portion 511b Between effective tension loosen, thus the first upper leg part 511a is connected to securing member 804, makes Article 2 leg portion 511b Move relative to along respective passage 806.As shown in figure 19, when controlling the latched position of bar 810, with relatively small end On the adjacent packing ring 808 of portion 807a, the head 804a of securing member 804 and the surface 809 of Article 1 leg portion 511b it Between effective tension loosen, organized securing member 804 and Article 1 leg portion 511a along respective passage 806, relative to Article 2 leg portion 511b moves.

Clamp arm or control bar 810 are pivotally coupled on the surface 809 that described Article 2 major part 511b is adjacent.Each folder Tight arm 810 can be relative in latched position and release position, respectively with locking and two parts of loosening relative to Article 2 huckle 511b is divided to pivot.In a preferred embodiment, in latched position, control bar 810 and there is the free end 810b adjacent to passage 806, When relaxation state, the free end of described control bar is then away from passage 806.The shake of each arm 810 between the two position Respective chock 807 can be caused to move to locking and the release position being correlated with.Each pitman arm 811 pivot being associated with wedge 807 Turn ground connecting wedge 807 one end (the end 807a that preferably wedge 807 is bigger) and, with the adjacent opposite end of control bar 810.Relevant The pitman arm 811 of connection is when release position rotates to latched position, and each pitman arm 811 is prompted to rotate and promote each wedge 807 Bigger end move towards packing ring 808 and securing member 804.Along with bar from latched position to release position rotate time, each is even Connecing arm 811 is to rotate in the opposite direction, to pull the remote bigger end 807a of each wedge 807 away from packing ring 808 and securing member 804。

Two control bars 810 are preferably arranged on direction relative to each other, to discharge tension force and the unblock of all four securing member Two parts 511a and 511b, and it is arranged on relative direction away from each other, to increase the tension force and two of all four securing member Individual part 511a and 511b lock together.The pivot axis of the either end of each pitman arm 811, and the pivot of each bar Axis, the most orthogonal, and along the trunnion axis relative to the described Article 2 leg portion 511b longitudinal axis.

Loosen/may move state, thigh and lower leg portion 511a and 511b with reference to the locking mechanism 800 in Figure 21 are configured For being slidably moved relative to another by regulation governor motion 800.But, thankfully, real substituting Execute the movement in example to be obtained by one or two part 511a the most mobile and 511b, and without extra regulation machine Structure 800.In the preferred embodiment, but, due to two tightened up and safety provided between part 511a and 511b Connection, therefore contain the combination of the guiding mechanism 800 of an extra locking mechanism, security performance can be increased.

In operation, for adjusting the total length of leg portion 511a, two levers are moved to off-position (figure from latched position 17).First and second thigh parts 511a and 511b slide into the other end from one end now freely, with by helical tooth 813 Rotation, adjust parts 511 total length.Once having reached the total length needed, latched position shifted to by lever, with fixed part The relative position of part 511a with 512b.(Figure 18)

In a preferred embodiment, as above, about the first and second thigh parts 511a and 511b of thigh parts 511 A similar adjustment and locking mechanism 800, be provided to thigh parts 521 the first and second thigh parts 521a and 521b, and the first and second thigh parts 512a and 512b to thigh parts 512 are provided, and provide to thigh parts 522 The first and second thigh parts 522a and 522b.

Prevention knee extension is excessive

With reference to Figure 22, in a preferred embodiment, it is provided that a substantially rigid mechanical stops 595, with about axle The bearing of trend of 513A/523A limits the pivoting action of lower leg component 520 relative to thigh parts 510/520.Mechanical stops 595 are used for each leg structure, to prevent the hyperextension of relevant knee.Mechanical stops can with have many form or configuration, To reach to limit the purpose of motion.

In a preferred embodiment, at least one substantially rigid mechanical stops 595 is with forward direction (especially thigh The bottom 511b/521b of 511/521), from each thigh 511/521 being adjacent to knee joint 513/523 outwardly.Each The elongated end 596 of one substantially rigid of lower leg component 512/522 (the especially top 512a/522a of lower leg component 512/522), It is adjacent to knee joint 513/523, is used for being engaged abutment 595, when lower leg component 512/522 extends to about knee joint 513/523 One direction being basically parallel to thigh parts 511/521, such as, the angle between thigh parts and lower leg component is about 180 Degree.In this way, lower leg component 512/522 avoids excessively stretching out at described knee joint 513A/523A.

Preferably, having abutment 595a and 595b of a pair substantially rigid, the knee joint 513/523 at each leg 510/520 goes out The most prominent.Each abutment 595a/595b connects the most firm of fork 596 for the one of occlusion one corresponding lower leg component 512/522 Property side.Connect fork 596 for connecting the end of knee actuator 572/582.

One or some abutments 595 preferably completely form in pin components 511/521.In another embodiment, one or some Abutment 595 is the parts separated, the suitable leg connected on ectoskeleton that can be dismountable or fixing or position, to limit Rotation at the lower leg component in continuity direction extends.

In another embodiment, it is fabulous for providing a mechanical stops on another position of shank 510 and 520, So can limit lower leg component 512/522 about knee joint 513/523 at the pivoting action of bearing of trend.Such as, at another In embodiment, each knee actuator 572/582 is provided with a mechanical stops, can shrink with limiting actuator Length (or the length extended, if this is relevant lower leg component 512/522 bearing of trend reached of actuator) to prevent Lower leg component 512/522 is about the hyperextension of knee joint 513/523.

Containment envelope

With reference to Figure 23-25, in a preferred embodiment, leg structure 510 and 520 has outer housing 600 further, with protection also Significantly hide the assembly of leg structure, including thigh and lower leg component, actuator and joint.Each leg structure 510/520 There is the guard shield 610/620 of a set of hollow, for the thigh and calf parts of substantially covering/cincture structure 510/520, actuator and pass Joint.Often set guard shield 610/620 includes on one coating member 611/621 and once coating member 612/622.Upper and lower coating member By hinge/pivot, the joint 613/623 about guard shield interconnects.Joint 613/623 is positioned at coating member 611/621 Lower end 611b/621b and lower coating member 612/622 upper end 612a/622a cross point on.It is being in protecting of confined state Joint 613/623 in cover is for fixing and protect the respective knee joint 513/523 of leg structure 510/520.

Upper and lower coating member substantially stretches out, the structure of hollow, has substantially cylindrical or other elongated prism Similar profile, with around respective leg portions.

In a preferred embodiment, each thigh coating member 611/621 comprises upper a coating member 611a/621a, Yi Jiyi Lower coating member 611b/621b.The telescopic occlusion of upper and lower coating member is big to adjust the size of upper coating member 611/621 Little.

Coating member can be relative extension or contraction, to elongate or shorten thigh coating member 611/621.In preferred embodiment In, upper coating member 611a/621a comprises part or the extension 611c/612c of a flange, and it has a relatively small outside Diameter/size, draws in the lower coating member 611b/621b of hollow for telescopic, and the lower coating member of hollow has ratio Inside diameter/size that the outer dia/size of the part of flange is relatively large.Upper coating member 611/621 comprises relatively large outside Diameter/size part 611d/621d, its substantially similar lower coating member 611b/621b is straight in the outside of the adjacent segment of upper coating member Footpath/size.In this way, between the big portion 611d/621d and the end of lower coating member 611b/621b of upper coating member, There are a restriction or retainer, to define the less size limitation of thigh coating member 611/621.This less size limitation Thigh coating member 621 shows.Can also use an abutment, retainer or restriction, to limit coating member 611a/621a With 611b/621b in the extension of the relative motion in other direction, such as, carry to increase the length of coating member 611/621 For a upper size threshold.In another embodiment, lower coating member can include a part, is used for replacing telescopic receipts Hold together in upper covering part.Leg portion 511a/521a that upper covering part 611a/621a connects thigh parts 511/521 is (excellent Choosing in part 611c/621c), and lower covering part 611b/621b connect thigh parts 511/521 lower leg portion 511b/521b.In this way, the length adjustment of thigh parts 511/521 result in the upper covering part of coating member 611/621 Divide 611a/621a and the movement of lower covering part 611b/621b.Coating member 611/621 thus can oneself adjust, with use The adjustment of the leg portions 511/521 that middle coupling is relevant.

Covering part can be all formed as one or more parts up and down, and they are assembled into respective covering part.

In a preferred embodiment, upper covering part 611a/621a and lower covering part 611b/621b comprise recess, are used for Position the locking mechanism 800 of adjacent thigh parts 511/521, for exposing the bar 810 of at least locking mechanism 800, to use Family access mechanism.Additionally, lower covering part 611b/621b comprises a recess, for positioning the adjustment of adjacent mechanism 800 The hole of bearing 814, to receive instrument, to adjust the size of thigh parts 511/521.

Labelling 631 can be provided, to provide the size of leg portions 511/521 in telescopable portion 611c/621c.Labelling 631 Including print or the information of display, axial moves along part 611c/621c, to point out the relative of leg portions 511/521 Size.Because covering part 611a/621a and 611b/621b relative movement, some in labelling 631, all or neither one It is visible or hiding, to point out the corresponding size of leg portions 511/521 to user.

In a preferred embodiment, same, each shank coating member 612/622 comprises upper covering part 612a/622a With lower covering part 612b/622b.The covering part telescopic occlusion of upper and lower coating member up and down, to adjust upper covering part The size of part 612/622.Covering part can be relative extension or contraction, to elongate or shorten thigh coating member 612/622.In a preferred embodiment, lower coating member 612b/622b comprises a part or extends 612c/622c, and it has One relatively small diameter, draws in the upper coating member 612a/622a of hollow for telescopic, the upper covering part of hollow Part has the inside diameter/size more relatively large than the outer dia/size of the part of flange.Lower coating member 611/621 comprises relatively Big outer dia/sized fraction 612d/622d, its substantially similar upper covering part 612a/622a of size is in lower covering part Outer dia/the size of abutting end.In this way, at the big portion 612d/622d and upper coating member 612a/622a of lower covering part End between, have a restriction or retainer, to define the less size limitation of thigh coating member 611/621.This is more Little size limitation shows in shank coating member 622.An abutment, retainer or restriction can also be used, cover to limit Cover 612a/622a and 612b/622b is in the extension of the relative motion in other direction, such as, in order to increase coating member The length of 612/622 thus a upper size threshold is provided.In another embodiment, upper covering part can include a part, For replacing telescopic gathering in lower covering part.Upper covering part 612a/622a connects the thigh of lower leg component 512/522 Part 512a/522a, and the lower leg portion 512b/522b of lower covering part 612b/622b connection lower leg component 512/522 is (excellent Choosing in part 612c/622c).In this way, the length adjustment of lower leg component 512/522 result in lower coating member 612/622 Upper covering part 612a/622a and the movement of lower covering part 612b/622b.Coating member 612/622 thus can oneself adjust, In use to mate the adjustment of relevant leg portions 511/521.

In a preferred embodiment, upper covering part 612a/622a and lower covering part 612b/622b comprise recess, are used for Position the locking mechanism 800 of adjacent lower leg component 512/522, for exposing the bar 810 of at least locking mechanism 800, to use Family access mechanism.Additionally, upper covering part 612a/622a comprises a recess, for positioning the adjustment of adjacent mechanism 800 The hole of bearing 814, to receive instrument, to adjust the size of lower leg component 512/522.

Labelling 632 can be provided, to provide the size of leg portions 511/521 in telescopable portion 621c/622c.Labelling 632 Including print or the information of display, axial moves along part 612c/622c, to point out the relative of leg portions 512/522 Size.Because covering part 612a/622a and 612b/622b relative movement, some in labelling 632, all or neither one It is visible or hiding, to point out the corresponding size of leg portions 512/522 to user.

Figure 23 shows that the outer housing 610 of leg structure 510 is fully stretched, and the outer housing 620 of leg structure 520 is by completely Shrink.

2.2 fixed mechanism

With reference to Fig. 2, each thigh parts 511/521 and each lower leg component 512/522 include one with adjustable securing member The fixing device of the form of 591/592, for fixing the respective leg portions of user to respective leg structure.Securing member 591/592 is excellent The size adjustable of choosing.Imagination securing member 591/592 can include belt or band flexibly, it is possible to includes a scalable Tightening device, it can be a hook and through the latch closure device of a bracelet in form.Or, adjustable fastening Device can include a typical bracelet, ratchet button or seizure shape.

In one embodiment, safety device includes position, and the rectification with design of configuration, to guarantee extremity and the pass of user The correct connection of joint, and belt as above and belt can be included.

2.3 foot structure

Ankle joint

With reference to Fig. 5 and Fig. 6, the lower end 512b/522b of each lower leg component 512/522 by ankle joint 515/525 pivot The respective foot part of connection 530/540.Each ankle joint 515/525 can make between respective shank and foot parts, about At least one, but it is preferred that two substantially orthogonal to axle rotate against.Particularly, each ankle joint enables about main shaft 515A/525A rotates against, the curvature movement opened up of dorsiflex and ankle/foot to complete ankle/foot.Main shaft 515A/525A It is arranged essentially parallel to buttocks and knee axis 514A and 513A/523A of user, and transverse section and coronalplane, and allow higher level Rotation with subordinate direction.Each ankle joint is preferably additionally operable to make the most just rotating against about the second axle 515B/525B Meet at main shaft 513A/523A, the movement of turning up of inversion and ankle/foot to complete ankle/foot.Second axle 515B/525B is substantially It is parallel to cross section and the sagittal plane of user, and allows in side surface direction and the rotation in middle direction.Each ankle joint 515/525 Make between lower leg component 512/522 and relevant foot part 530/540 about main shaft 515A/515B at about 0-30 degree, at foot Rotating against of the both sides in the centre position of portion's parts 530/540, and about secondary axes 515B/525B in the rotation of about 0-10 degree, And preferably, the rotating against of the both sides in centre position between foot part 530/540 in 0-6 degree.In preferred embodiment In, ankle joint is the form in ball joint.Each ankle joint 515/525 connection plastics by a pair level, and preferably Be the acetaldehyde at two ends being arranged in ball joint, shrub, be limited at its side and the moving range in middle direction.

In a preferred embodiment, each ankle joint 515/525 has the main shaft of its rotation 515A/525A, with one 0 to The angle of 6 degree, or the angle of preferred 4 degree, stretch out with horizontal direction.

In another embodiment, complexity and/or needs/desired to relevant mankind according to needs/desired WA100 are closed Level that joint is similar, ankle joint 515/525 may be used in relevant part along the sagittal of any user, crown, and/ Or rotating against between the combination of transverse plane.Such as, in another embodiment, knee joint 515 and 525 can be except main shaft Outward, and/or secondary axes 515A/525A or 515B/525B, it is allowed to, in side and middle direction, put down about being arranged essentially parallel to sagittal Face or coronal plane, carry out extending or the extension of foot.Along any one or more these planar movements or the angle of rotation, The ability in the joint according to relevant people, is limited at one or more direction.

Actuator

With reference to Fig. 5-7, ectoskeleton includes a pair foot parts 530 and 540, and they connect foot structure 510 and 520 respectively, And it is adapted to assist in the movement of user foot.Each foot parts 530/540 comprises a foot support 531/541, and relevant actuating Device 573/583, to affect the foot support 531/541 movement relative to relevant lower leg component 512/522.Foot parts 530 With 540 each there is a guiding mechanism, for adjusting the position relative to relevant ankle joint 515/525, the angle of user.

In a preferred embodiment, a pair relevant ankle actuator of each exercisable connection of lower leg component 512/522 573a,b/583a,b.On one main frame electric actuator 573a/583a exercisable at one end connection lower leg component 512/522 one is even Contact, connects the junction point in foot parts 530/540 in opposite segments, and for moving portion of foot about ankle joint 515/525 Part, to realize the dorsiflex of the foot parts 530/540 about axle 515A/525A and to open up motion in the wrong.One electromechanical actuator 573b/583b is exercisable at one end connects the junction point on lower leg component 512/522, connects foot parts in opposite segments A junction point on 530/540, and for moving foot parts 530/540 about ankle joint 515/525, to realize about secondary axes The inversion of 515B/525B and return motion.Each junction point, both relative to thigh parts and respective hip joint, fixes its position.

Main and secondary actuator 573a, b/583a, b are linear actuatorss.The extension of each actuator causes portion of corresponding foot Part 530/540 along the movement of the respective planes of respective direction, and the contraction of actuator cause foot parts 530/540 along The movement of rightabout plane.The linear movement of actuator 573 and 583 is converted to foot parts 530 and 540 and passes through ankle The pivot in joint 515 and 525 moves.

For providing the ectoskeleton 500 of a low profile, each linear actuators is arranged essentially parallel to corresponding lower leg component, with The ectoskeleton 500 of one low profile is provided.Connection ankle joint 515/525 foot below of each main actuator 573a/583a pivot Parts 530/540 (with the direction of ectoskeleton reach), and for rotating with two substantially orthogonal axles, such as, before and it After direction along sagittal plane, and in side and middle direction along coronal plane.Each actuator 573b/583b pivot Connect the side of ankle joint 515/525, and for rotating with an axle, this axle is substantially perpendicular to two axles of main actuator.

Preferably, linear actuators is low voltage DC actuator, has the home position by the sensor in actuator.Generally, Each actuator drives a helical tooth (not shown) to move by electro-motor (not shown), which results in actuator arm Stretch or shrink.

In another embodiment, any numeral of actuator, type or configuration can use in known mechanical engineering field, To complete the rotary motion of the foot parts of articular portion as noted in the discussion.

Adjust

With reference to Figure 26-28, in a preferred embodiment, each foot parts 530/540 comprises a guiding mechanism 900, is used for Suitably it is directed at the ankle-joint location of user and the position of the ankle joint 515/525 of ectoskeleton 500.This guiding mechanism can be basic One of them of the upper ankle being directed at user and ankle joint pivot 515A/525A and 515B/525B, it is preferable that, it is directed at this Two pivots (for example, it is preferable to, the ankle of alignment user and the cross point of two ankle joint pivots).This guiding mechanism can make Adjusting or lateral or longitudinally opposite in ankle joint 515/525 of the position of user's ankle, it is preferable that, the most lateral sum Longitudinal direction.

Now guiding mechanism 900 is compared with foot parts 530.Foot parts comprises a bounded domain 535, uses in it The foot of user is laid at family.Bounded domain 535 is used for the foot defining user position in foot parts 530.Region 535 is permissible Substantially cover from all sides, or cover from some side openings and from one or more sides.Particularly, bounded domain 535 need a base 531, and at least one wall, extend from base to define user foot position on foot parts 530 Put.

In a preferred embodiment, foot parts 530 comprises a base 531, and base has a stayed surface 531a, is used for Support the foot of user.Base 531 is the most generally rectangular but it also may be any desired polygonal shape, with For particularly application.As shown in figure 28, base can comprise one or more flat board, and or many between base flat board Individual spring members, to provide an attenuating structure.The lower surface of base can have pressure and/or touch sensor, for control system, , motion sequence or instruction the term of execution, to analyze the state of foot structure.Pressure transducer may be provided at region, surface, to carry For relevant information to relevant control system.

Having a pair relative bulkhead 901,902, at side 531a and 531b of base 531, lateral and substantially orthogonal prolongs Extend base 531.In use, the foot of a user is supported by base 531, and the most horizontal is limited to bulkhead 901, In the border of 902.Have a horizontal heel supports 903, from base 531 one end (rear end) 531c extend, to enter One step limits the foot of user.Heel supports 903 comprises a recess 904, and user receives and keeps the heel of user.Recess 904 Comprise a smooth concave surface, for encasing the heel of user in surface.In a word, stayed surface 531a, bulkhead 901, 902, and heel supports 903 defines the border of borderline region 535, for receiving and keep the foot of user.

A connector, comprises a connection fork 905, extends the outside adjacent of the heel supports 903 of base 531 from lateral face, With connection foot parts 530 to relevant leg structure 510 and actuator 573a, b.Adapter 905 defines ankle joint 515 Fixed position.One second connects fork 905b, is positioned on adapter, defines in the junction point of main ankle actuator.

Provide a guiding mechanism 900, adjust the position relative to ankle joint 515, the bounded domain 535 for fixing.Especially , the border at least one region 535, including heel supports 903 and/or stayed surface 531a, relative to ankle joint at least The position of one axle is adjustable, to reset bounded domain 535.In a preferred embodiment, heel supports 903 can be along The adjustment that foot parts 530 is axial, and stayed surface 531a can laterally adjust along substantially vertical direction.

Heel supports 903 can carry out position adjustment relative to adapter 905.In a preferred embodiment, heel supports 903 Position can adjust along the longitudinal length of foot parts 530, to regulate the heel supports 903 position relative to adapter 905. Base portion comprises at least one, but it is preferred that a pair elongated guide channel 906 and 907, substantially parallel mutual extension, and Backside 531c from base 531 longitudinally substantially extends to a default thresholding position.The base 908 of one heel supports 903, By securing member 909 slidably occlusal crib 906, the both sides of 907.One elongated regulating tank 910, be positioned at two elongated In the middle of guide channel 906 and 907, also longitudinally extending towards a position preset from rear end 531c.The pedestal of heel supports 903 908 pedestals 531 being slidably engaged foot parts 530, and movably connect regulating tank 910, with along groove 910 and groove 906,907 positions adjusting heel supports 903.This provides heel supports 903 relative to ankle joint 515 at longitudinal direction Position adjustment.

One fastener 911, is used for locking heel supports 903 at pedestal 531, to prevent the movement of its opposite base 531, or Discharge, so that its opposite base 531 moves in the occlusion that heel supports 903 is fixing from pedestal 531.Fastener 911 Provide at the pedestal 908 of heel supports 903 and the pedestal 531 of foot parts 530 at the pulling force of latched position, with heel Support 903 and be fixed on the position relative to groove 910, or be released in pedestal 908 and the pedestal of foot parts of heel supports 903 531 in off-position, so that heel supports 903 is fixed on the movement relative to groove 910.

Provide labelling 912, adjacent to regulating tank 910, to point out about heel supports 903 along the relative position of groove 910 Adjusted value.In another embodiment, it is likely not to have guide channel 906 and 907, but is provided with and prevents heel supports 903 about base The benefit that this vertical axis rotates.

In a preferred embodiment, stayed surface 531a can be in the most substantially vertical axial adjustment relative to the position of ankle joint 515. Stayed surface 531a is adjusted by regulating its height bar.

In a preferred embodiment, it is possible to provide one or more packaging elements or flat board 920, so that the height of stayed surface 531a Adjustable, thus the height of the ankle joint 515 relative to ectoskeleton 500 of scalable user.Particularly, one or more packagings 920, there is identical or different thickness, bulkhead 901 can be retained in, in 902, to increase the pedestal 531 of foot parts Highly.Preferably, the periphery of each packaging is used for supplementing bulkhead 901, encloses 901a and 902a in 902, to provide at bag Fixing occlusion between mounted box bulkhead.The thickness of packaging 920, can the most about 0.1-20mm, it is preferred that for 0.5-15mm, It is furthermore preferred that be of about 1-10mm.The thickness of packaging can be about 8mm, 4mm, 2mm or 1mm.Can use and appoint The combination of what one or more packaging 920, to increase the height of the pedestal 531 of foot parts 530, to adjust the foot phase of user Lateral attitude to ankle joint 515.

Preferably, packaging 920 is formed by a plastic material the softest, such as one as little as medium density polyethylene.Other Material can be used for packaging element 920, such as one rigidity plastics or metal material, but preferably one rank is soft and bullet The material of property, for the use of wearer comfort.

Foot support 540 has similar guiding mechanism 900, is adjusted relative to ankle joint 525 with the foot of user.

2.4 hip framework

With reference to Fig. 7-12, in a preferred embodiment, hip framework 550 is relatively low weight, and has relatively high rigidity Level, at ectoskeleton 500 run duration, to minimize pliability.Preferably, hip framework 550 is cast as one by carbon pricker dimension Overall.Hip framework 550 comprises an inner hollow space (not shown), including the horizontal shear web extended from hollow space. Hip framework 550 also can be formed by glass fibre, or is formed by known other suitable material any.

Hip framework 550 is for supporting the buttocks of user, and comprises a back support 551 and a pair retention arm 552 and 553, From the both sides horizontal expansion of back support 551.Back support 551 and arm 552 and 553 define a usual U-shaped frame 550, It is horizontally through the width of frame 550, to provide an internal recess, for receiving and keep lower rear portion and the seat area of user.? In preferred embodiment, back support 551 is for extending from one (extension) end 554, and end 554 is for supporting the bone of user Basin or neck area are to an end opposite 555, and end opposite 555 is for supporting lumbar vertebra or low chest region (the middle lower back portion district of user Territory).

Arm 552 and 553, each with a upper surface 556 and 557 substantially conforming to human engineering, is used for making a user Arm can lean on thereon.On upper surface 556 and 557, the end opposite of each arm has rigid structure 558 and 559, For connecting the hip joint 514/524 of associated leg structure.In the downside of each arm 552 and 553, there is a groove or recess 558/559, pitch with a pair connection of each self-forming, for the hip joint 514/524 that rotatable reservation is relevant, and main actuator The associated end of 571a/581a.

Review Fig. 2, can have a pelvis set 560, so that appropriate the maintaining in buttocks frame 550 of user.Set can include braces, Fasten rope, belt, a saddle or belt, so that next to the skin the maintaining in hip framework 550 of the buttocks of user.Preferably, set 560 include adjustable belt or belt, extend to user leg and can be in use by suitable the tightening or loosening of user. The length of belt is adjustable, to change fixing size and level according to user.Belt can include any suitable fastening system System, including pressing from both sides adapter and/or hook and annular fastener, to facilitate turnover ectoskeleton 500.In a preferred embodiment, carry For three releasable belts or belt.There is one first belt, for the waist through user, and be connected to hip framework 550 The two ends of arm 552 and 553.Belt pack contains an intermediate connector, for discharging and be engaged two parts of belt.Also provide for A pair thigh belt, each interior thigh for a lower limb through user is, and until corresponding buttocks.At adjacent buttocks There is on the arm 552/553 of framework a corresponding adapter, with releasable occlusion belt to framework 550, and the lower limb of fixing user In wherein.This configuration ensure that firm being maintained in hip framework 550 of user.

There is a parcel that (not shown) is set, be made up of the plastics of such as wedge shape foam or foam, and optionally with in guaranteeing user Being slidably matched in hip framework 550.It can be an inflatable thin-walled pressure vessel (not shown) that parcel is arranged.

In certain embodiments, ectoskeleton 500 can have one or more trunk set or upper body braces further, and they are attached to In hip framework 550.Upper body braces can make user have limited upper body control.Upper body braces can include a framework or bundle Abdomen, for encouraging the upper body of mobile subscriber, to assist their balance.In one embodiment, trunk set can connect pelvis set 560。

2.5 users control

WA is mainly controlled by controlling bar 593 and button 594 by user, and button is exercisable is arranged in waist height.Control Bar 593 and button 594 can be supported by arm 595.Arm 595 can rotate relative to ectoskeleton, in order at least one operative position Put and move between at least one make position.Operating position can be extending to button and controlling bar height of arm basic horizontal, And/or substantially vertical extend to button and control bar and close on the thigh position of user.Make position can be substantially vertical the prolonging of arm Stretch position.

3 control systems

One preferred form of the control system of WA is described in Figure 29 a-34.Such as, ectoskeleton control system is preferred Embodiment is described in Fig. 1-2 8.But, control system configures, and method and engineering department are applicable to other and move aid and dermoskeleton Bone system, they have similar control function and coupling demand.

Control system may be implemented in any suitable hardware system, on platform or framework.Hardware system is arranged on WA, and Preferably comprise at least one processor, for operation control system algorithm, an internal memory, for storage control system algorithm and Data, and interface circuit, for communicating with other WA assembly, such as, receive sensor signal and run ectoskeleton actuator. Processor can be any type of programmable hardware device, such as CPU, and digital signal processor, field programmable gate array, Microcontroller, special IC, or similar equipment.As shown in Figure 8, control system can be protected by shell and pass through pelvis Support 550 entrance.

User makes behavior and the shifting of the actuator of control system control ectoskeleton 500 by man-machine device interfaces and sensor input Dynamic, wherein sensor input detects balance and the environmental factors, such as topography variation of WA.When energising, WA control system Keep a perfect condition, to maintain its current location and to wait that user is inputted by panel.User's input is converted to one Set bid value, by an actuator, the most a set of motor controller, to trigger the movement of actuator one pre-programmed sequence.Preferably Form control system store a series of pre-programmed sequence, each sequence for produce a different movement, such as, but not Get rid of for walking, sit and stand.Each pre-programmed sequence can be adjusted by the variable that difference determines during calibrating, to change base Pre-programmed sequence in user.

Pre-programmed sequence is configured to the sequence of an event or events/commands, it completed to determine by the physical location of actuator or by from The appropriate signals of environmental sensor determines.By having time and the position sequence of pre-programmed, it save calculating time and electric power.

With reference to Figure 34, the control system of preferred form comprises a man-machine interface 1601, a wave point 1640, a calibration subsystem System 1630 and a motor control subsystem 1620.Motor control subsystem (such as, activated controllers) is connected to actuator 1612. Multiple sensors 1610,1611, including the sensor in actuator 1612, it is provided that feedback, the position of such as actuator.

User is inputted by panel 1601, and/or is received by wave point 1640, and they pass through control system 1690 quilt It is converted into the order of pre-programmed.The order instruction motor controller 1620 of pre-programmed moves actuator 1612.

Actuation sensor device 1616 provides feedback directly to control system, to guarantee the correct mobile of actuator.Size/knot according to user During or after calibration phase 1630, the order of pre-programmed can change structure (such as height and/or weight).

3.1 man-machine interface

In a preferred embodiment, a panel, for man-machine interface, it comprises 12 membrane buttons, three LED, and one Individual stick and a battery table.It is used as other suitable man-machine interface to control.Such as, a touch screen, replaceable control Making sheet.Other example has, a LCD screen, replaceable LED and battery table, and shows the suitable shape that miscellaneous equipment is relevant State information.

The button of preferred embodiment comprises " ON/OFF " button, and it is used for switching WA, " seat " button, uses In making WA sit down, " station " button, it is used for making WA stand, and one " Emergency Power ", it can allow promptly Battery, to provide power supply when main power source exhausts for WA.There is a cancel button, with the function selected by cancellation.One is had " to lift Foot " and put down foot function, for using when sitting.There is an audible buzzer seen, to point out the choosing of warning and some function Select.

Button comprises three LED, and when WA makes mistakes, one of them LED can flash with constant frequency, when equipment charge its In a LED can light, when Emergency Power uses, one of them LED can light.

Battery table is series of LED, and provides the instruction of available power, all of LED to light expression electricity in main battery bag The fullest, not having LED to light expression battery needs charging.

In another embodiment, LED can replace with a LCD display, and it provides letter in the way of being similar to or be different Breath.

Stick controls the walking movement of WA by being used in.Selection and quick release at forward and backward directions stick can be drawn Play the static forwardly and rearwardly stepping of WA, and keep stick that WA the most forwardly and rearwardly can be caused to carry out one dynamically Forwardly and rearwardly stepping.Promote stick will cause WA stepping to the left or to the right to the left and to the right.Promotion stick is oblique WA can be caused to the left or to the right to turn to corresponding direction forward or backward and simultaneously.

3.2 controlled in wireless

In a preferred embodiment of the invention, WA comprises a wireless receiver, is used for by wireless telemetry technique, Receive and process input data/signal of sending from far-end computer or other remote electronics, wherein far-end computer or other Remote electronics has relevant transmitter.Input data can represent one or more control signal, outside remotely controlling The operation of skeleton.Remote equipment include but not limited to, a desktop computer, kneetop computer, notebook, panel computer or shifting Dynamic equipment.Term " mobile device " include but not limited to, a wireless device, a mobile phone, and a movement is led to News equipment, a user communication equipment, personal digital assistant, mobile hand-held computer, a kneetop computer, an electricity Philosophical works reader and arrangement for reading, can be with read electronic content and/or other type of mobile device, and typical individual keeps, and / or there is some form of wireless communication ability (such as, wireless, infrared, shortwave etc.).

Wireless receiver comprises an antenna, for receiving the wireless signal of given frequency, and the processor of a connection antenna. Processor is for according to a relevant wireless protocols, processing the signal that antenna receives.The WA system of the present invention can use appoints What known wireless telemetering method.Such as, a 2.4G ISM band can be used, with at remote equipment and wireless receiver/connect Complete radio communication between mouth 1640, and use FHSS agreement or known other suitable frequency any and the set of agreement. Wireless receiver can be integrated with the control system of WA, can be maybe a single module, can connect and carry on a WA The suitable ports of confession.In the case of the latter, control system can be used for the connection of identification module and communicating of module, to process mould The information that block receives.

Remote equipment provides an inputting interface, so that user can input data, it is indicated that one or more controls and command signal, And wireless transmission control and/or command signal are to ectoskeleton.Typical command signal can send to wireless communication from remote equipment Number, it include but not limited to, the combination in any of following option:

One " opening " order is used for making WA open,

One " closedown " order is used for making WA close,

One " sitting down " order is used for making WA sit down,

One " standing up " order is used for making WA stand up,

One " Emergency Power supply " order makes once main power source supply discontinuity, and emergency power supply is supplied to WA power supply,

One " foot-up " and one " putting down foot " order are according to making to lift or put down foot when ectoskeleton is in sitting posture

One " static state is marked time forward ", one ' static state is marked time backward ', one " static state is marked time to the left ", and one " static to Mark time in the right side " order make ectoskeleton respectively forward, backward, to the left, step on to the right a step.

One " marking time the most forward ", one " marking time the most backward ", one " marking time the most to the left ", and one " dynamically to Mark time in the right side " order make ectoskeleton respectively forward, backward, to the left, mark time to fight continuity, and/or

One " left-hand rotation " and " right-hand rotation " order make ectoskeleton the most to the left and turn right.

Above command signal is obtained and provided to control system for further processing by the wireless receiver of WA.From far The ectoskeleton command signal that is sent to journey equipment trigger a series of of a pre-programmed and the relevant event sequence of order (in next part, Will be by further description).

Imagination, in certain embodiments, wireless receiving module can be configured to receive show needed for one relevant one or more The command signal of the motion of concrete brake.In this case, control system by these signals of reception and directly transmits it To motor controller to complete required motion for relevant brake.

Wireless receiver can be a transceiver, and it is further configured to send a signal to remote equipment, such as motor, causes Dynamic device and/or battery status signal.

3.3 preprogrammed command/sequentially

WA is passed through a human-computer interface control by user.The man machine interface of preferred embodiment is a keyboard as previously described.Operation Certain action will trigger the event sequence of a pre-programmed on keyboard.Optional WA can be by by the man-machine boundary of a remote equipment The control that face is long-range.Similar it be sent to ectoskeletal order model from remote equipment and trigger the event sequence of a pre-programmed.This A little orders are time control, angled movement sequence so that for constant position poised state；If this poised state is outside Environmental forces or even by the motion of user translated into this equipment subsystem will interrupt and by this pre-programmed of variable update inputted Order is to adjust for environmental factors.

Pre-programmed sequences is it is therefore assumed that a flat country, no matter i.e. relative to moving direction for not tilt.Each With a certain amount of continuous print, the sequence of motion of pre-programmed requires that the instruction performing desire motion is associated.The mould that continuous print instruction is discrete Movement step needed for imitative human joint to a certain extent is to perform a specific sequence of motion.Each instruction with one specific group The actuator motion of the response performing required instruction be associated.Therefore, control system must store each pre-programmed sequences, The motion of the actuator needed for the instruction being associated with this order and each instruction.

Figure 29 a-33b provides the example of pre-programmed sequence of motion, the instruction being associated with these orders, and needs to perform this The corresponding actuator motion of a little special orders.In the following examples, a model 700 of the ectoskeleton 500 of Fig. 1-44 in order to Distinct diagram describes.The correspondence that arrow shows corresponding to the actuator instructed before motion (or first instruct in the case of One stands controls the motion of position).

Such as the discussion of the ectoskeleton 500 for Fig. 1-44, ectoskeletal joint angles thinks the cause first washed by change and particular joint Move the change of the length of device and change.Therefore ectoskeleton 701-710 is indicated by means of an arrow so that whether display causes in one specifically instruction Dynamic device is lengthened or shortened (changing the joint being associated motion needed for performing in turn).Ectoskeleton 701-710 is each One ectoskeleton 19,39,13,16 and 38 (being associated and joint 17,12 and 14) of individual corresponding ectoskeleton 500, such as following table Shown in 1.

Model 700 actuator	Corresponding ectoskeleton 500 actuator
		Actuator 701	Main left foot actuator 19
Actuator 702	Main right crus of diaphragm actuator 19
		Actuator 703	Secondary left foot actuator 39
Actuator 704	Secondary right crus of diaphragm actuator 39
		Actuator 705	Left knee actuator 13
Actuator 706	Right knee actuator 13
		Actuator 707	Main left buttocks actuator 16
Actuator 708	Main right buttocks actuator 16
		Actuator 709	Secondary left buttocks actuator 38
Actuator 710	Secondary right buttocks actuator 38

Table 1

For the example kinematic order of below figure 29-33, labelling will be marked in actuator 701-710 and especially in such as way Change in their length shown in the arrow being associated.

Walking-static state is marked time

One static step movement order is as shown in Figure 29 (a)-(j).Static state is marked time and is required every lower limb to step a step and result is Ectoskeleton 700 stand on position (non-tend to a left side or the right side) two legs of a control all with wherein (adjacent) another One straight line.Before marking time, WA can check whether it is in standing place.The mass centre that WA and user combine is for the first time It is transferred directly to side on another foot.System will ensure that mass centre is directly on foot.Another foot be lifted and to Front movement and be then lowered into position before the first leg on the ground.The bond quality center of WA and user is then by directly Switch through and move to opposite side in the top of foot forward, and then another foot is raised and moves forward to exist with first foot Article one, the position on line and being laid down in this position on the ground.

This specific step is shown and Figure 29, it is shown that the static state that right crus of diaphragm is dominated is marked time.It should be appreciated that similar dominating The programmed order of left foot motion also can be stored by simply changing the order of some instructions by system.Further, shown Example is marking time forward, and should realize backward mark time also can be by paying without extra for those skilled in the art of the present technique Go out work and significantly change instruction and programmed.

Therefore following instruction is used for static state and marks time programmed order and stored (leading the marking time forward of right crus of diaphragm) such as Figure 29:

I) be tilted to the left ectoskeleton 703 (Figure 29 (a)),

Ii) be tilted to the left basin bone (Figure 29 (b)),

Iii) rise right crus of diaphragm and move forward (Figure 29 (c)),

Iv) right crus of diaphragm is put down on the ground (Figure 29 (d)) thus right crus of diaphragm before left foot.

V) transfer ectoskeleton weight 700 (user is in wherein) is to the right so that ectoskeleton 700 is in the position (Figure 29 (e)) of control,

Vi) continuation transmission weight is to the right, makes ectoskeleton 700 position on the right (Figure 29 (f)),

Vii) pelvis of inclination ectoskeleton 700 is to the right (Figure 29 (g)),

Viii) rise left foot and move forward (Figure 29 (h)),

Ix) left foot is put down on the ground (Figure 29 (i)) thus left foot adjacent to right crus of diaphragm, and

X) transfer ectoskeleton weight 700 (user is in wherein) is to the left side so that ectoskeleton 700 is in the position (Figure 29 (j)) of control.

Therefore the airborne memory of system will store relative actuator action, in order to each above instruction for each motion suitable Sequence.Only those actuators changing length are shown in Figure 29 (a)-(j).One two-phase arrow represents the actuator that is associated The increase of length/expansion, and two arrows relative to each other represent the reducing of length/compression of the actuator being associated.Such as, Producing "Left"-deviationist instruction (i) for static step movement order, actuator 701-710 needs their control position/fighting capacity shape relatively State moves (i.e. after the such as instruction shown in Figure 29 (i) state extremely):

Extend actuator 701,702,704,706 and 709,

Shorten actuator 703,705,707,708 and 710.

Being similar to, the order that remaining instruction (ii)-(x) static state above is marked time needs actuator to move (relative to forwardmost instruction institute The length of the actuator caused) as shown in Figure 29 (b)-(j).

The most for example, such as ten actuator 701-710 during static step movement order of Figure 29 shown in table 2 below Length on relative changes.Each instruction will just be stored by the variable declaration that these length changes, and with each company Continuous instruction is sent to motor control system, when static step movement order is initialised, for example, user passes through user Interface.

The negative value of table 2 represents the actuator contraction in length relative to the end at forwardmost instruction, and one on the occasion of representing actuator Extend (equally relative to its length of the end at forwardmost instruction).

Walk-dynamically mark time

Left dynamically step movement order is shown in Figure 30 (a)-(e), and a right dynamically step movement order is shown in Figure 31 (a) -(e).Order of dynamically marking time is used when user wishes persistently to walk rather than steps on single step, and (for example, user can pass through Hold the stick of user interface in this order of position control forward).Control system is held by the change between dynamically marking time in left and right Row is marked time sequentially on the same stage.

Before stepping a step, WA can check that it is in standing place.The mass centre that WA and user combine is the most direct Transfer to the side on a foot.Another lower limb is elevated and moves forward and be then placed on the ground, in the first leg Position before.The mass centre that WA and user combine then is directly transferred to the side in the forward foot in a step, and the most another One foot is lifted and moves forward to the position before the first leg, and is laid down in this position on the ground.This order with Family is held stick and is repeated when suitable command position, when stick is released, next step make step front with (adjacent) The foot in face in a straight line, makes user in a standing place stopped, and two feet are in a straight line.

Dynamically mark time and include following continual command group in a left side as shown in Figure 30 (a)-(e):

I () shifts the weight of the weight (user is wherein) of ectoskeleton 700 to ectoskeleton 700 position to the left at left-leaning position (figure 30 (a)),

(ii) be tilted to the left the pelvis (Figure 30 (b)) of ectoskeleton 700,

(iii) rise right crus of diaphragm and move forward (Figure 30 (c)),

(iv) put down right crus of diaphragm to ground (Figure 30 (d)) thus right crus of diaphragm before left foot.

V () shifts to the right the weight of ectoskeleton 700 (user is in wherein) to ectoskeleton 700 for controlling seat (Figure 30 (e)) Position,

Figure 30 (a)-(e) shows the motion of the corresponding actuator of the effect producing above-mentioned left dynamic instruction (i)-(v) respectively.

The right side as shown in Figure 31 (a)-(e) is dynamically stepped on and is included following continual command group:

I () shifts to the right the weight of the weight (user is wherein) of ectoskeleton 700 to ectoskeleton 700 position at right position (figure 31 (a)),

(ii) be tilted to the right the pelvis (Figure 31 (b)) of ectoskeleton 700,

(iii) rise left foot and move forward (Figure 30 (c)),

(iv) put down left foot to ground (Figure 30 (d)) thus left foot adjacent to left foot, and

V () shifts the weight of ectoskeleton 700 (user is in wherein) to ectoskeleton 700 to the left in controlling position (Figure 30 (e)) Position.

Figure 31 (a)-(e) shows the motion of the corresponding actuator of the effect producing above-mentioned right dynamic instruction (i)-(v) respectively.

Table 3 below shows example that the associated actuators length of an order of dynamically marking time changes, and (left side is dynamically marked time and then one right Dynamically mark time).

Table 2

Table 3

Sit down

Before order of sitting down is activated, WA can check that it is a standing place.When yon transfer startup is sat down sequentially, and seat passes Sensor can be activated.Actuator puts down WA slowly, and the mass centre of holding WA and user's group is directly above foot simultaneously, Stable to ensure.WA the most slowly puts down it is known that bonnet/seat sensor contacts the surface at seat.

Figure 32 (a) and 32 (b) show the instruction of the order that is associated and sits down.For:

I () declines mass centre (Figure 32 (a)) forward, and

(ii) seat of Figure 32 (b) (is ended at) on seat in transfer mass center.

Lower form 4 show relative to actuator motion (starting from standing place) need perform by top instruction (i) with And order of sitting down defined in (ii).

Stand

Before order of standing is activated, WA can check that it is in a position sat down.When user starts order of standing, seat sensor Can be activated.Actuator will be used to the lower limb of lifting user until rear cover sensor is not or not contact surface, seat.Actuator will connect And be used to directly to move WA and mass centre that user combines is on the foot of user.WA will then become a straight line and enter Enter a standing place, remain simultaneously mass centre that WA user combines directly above foot, to ensure that WA is stable.

Figure 33 (a) and 33 (b) show the instruction relevant to order of standing.Have:

(iii) moving mass center on chair (Figure 33 (a)), and

(iv) lifting mass centre (ends at the standing place of Figure 33 (b)) forward.

Table 5 below shows that corresponding actuator motion (starting from seated position) needs to perform by above-mentioned instruction (i) (ii) institute The order of sitting down of definition.

Table 4

Table 5

Upper table 2-5 shows the example of the corresponding actuator length of the specific instruction performing above-mentioned sequence of motion.Such as numerical value/change Amount data show that these length are by by each instruction institute being associated of each sequence of motion of the pre-programmed control system for WA Storage.According to calling a special exercise order, the numerical value/variable being associated with the first instruction will be sent to motor control system, It is by the instruction needed for the length execution by change actuator of response.According to completing of the first instruction, for the second instruction Variable/the numerical value being associated with actuator is sent to motor control system, and it is by the instruction needed for corresponding execution again. This step is repeated on all of instruction in this sequence.And then numerical value/the variable being associated with instruction, WA stores thing Number of packages value shows the event being allocated in each instruction before next problem.

It will be apparent that the actuator length provided in upper form be only exemplary and can according to concrete demand and The application of WA and change.Further, should realize, the concept of pre-programmed sequences can be applied to other fortune a certain amount of Dynamic order, such as, be careful, and upwards, climbs downwards (ladder) and other order the most should not be excluded from outside the present invention. Instruction and corresponding actuator motion in order to imitate other orders of the natural step of human body discretely can be judged by off line And it is programmed into WA to increase ectoskeletal multifunctionality.

The calibration of 3.4 pre-programmed sequences

The skeleton of user can affect the operation of WA.Size, including weight and/or the height of such as user, or any other solution Cut open the combination of structure or scale, the ectoskeleton overall balance when motion can be affected.Change in size affects that and uses The position of the mass centre at family.The position at user quality center can have the dynamic impact for exoskeleton system.Such as, one First the user with high-quality center is needed less the inclination of some tiltedly (there is the user of relatively low mass centre relative to one), One in order to keep the marking time forward of balance during, or one may be shorter than one high with greater need for broader stance of user User.

Further, when in motion, different users can have different preferences or different abilities.Such as, some users can Have a preference for or can have the less demand tilting help at period buttocks of marking time.

As a preferred embodiment, the control system of WA includes a check and correction subsystem 1630, provides school according to user's calibration information Ability to suitable pre-programmed sequences.User proofreads data and is notably directed to user and dissects or anatomical structure and/or one or more User preference or different grades of ability.

In a preferred embodiment, the relevant information relating to user's anatomical structure includes user's size.User be preferably dimensioned at least by The length of the lower limb that the expression in terms of one dissection, such as one height or user are overall, and the weight of user.This size can be expressed Any one or more leg lengths, the merging of the arm dimension of weight and/or other dissections or power height.

The information relevant to user preference and ability includes user's gait preference or ability, for example whether user preference uses band buttocks The ectoskeleton that portion tilts or tilts without buttocks-the user of the fewer control of torso portion is compared to there being more control to this region System, it may be necessary to the assistance of the angle of a higher buttocks inclination.

WA is configured to calibrate pre-programmed sequences according to user's calibration information.Particularly, WA is configured to the chi according to user Very little and/or one or more gait preferences proofread the motion maps of one or more pre-programmed sequences, to ensure that concrete motion will not Produce the uncomfortable or imbalance of system.During proofreading, system is configured to receive and is relevant to or surface user's anatomical structure, And preferably, the input data of the size of user and/or the gait preference of other users.Reception data in the period of check and correction are located Reason is to judge suitable motion maps, and it will be used in each sequence of motion that the calibration information provided by user is affected. This relates to may be by user's size, one or more fingers of one or more sequence of motions that anatomical structure or gait preference are affected The judgement of the motion value being associated of the one or more actuators associated by order.

Such as, the mark time instruction group of programmed order (right crus of diaphragm leading mark time forward) of the static state of Figure 29 is:

I) be tilted to the left ectoskeleton 700 (Figure 29 (a)),

Ii) be tilted to the left pelvis (Figure 29 (b)),

Iii) rise right crus of diaphragm and move forward (Figure 29 (c)),

Vii) be tilted to the right the pelvis (Figure 29 (g)) of ectoskeleton 700,

Viii) rise left foot and move forward (Figure 29 (h)),

X) weight (user is in wherein) of transfer ectoskeleton 700 is to the left side so that ectoskeleton 700 is in position (Figure 29 of control (j))。

Ectoskeletal balance during performing the instruction of each above-mentioned sequence of motion is affected by the size of user.Therefore, each Instruct in order to one or more actuators being associated with instruction are according to the dimensional requirement one associated actuators motion value of user, to protect Hold the system of an appropriate balance.

Be similar to, in order to realize a comfortable WA, system step ii) and vii) should based on user preferably/required buttocks inclines Rake angle and perform.

In certain embodiments, some instructions of some sequence of motions can not be by the size of user or user's (gait) preference institute Change or impact, and the motion maps being therefore associated in the check and correction stage by unaffected.

In a preferred embodiment, dynamic and static step movement order, and motion maps of standing is by the size of user and/or use The gait preference at family is affected, and therefore needs a different motion maps according to the calibration information of user's input.

In a preferred embodiment, for the sequence of motion affected by user's size and/or by when marking time, whether user is partial to buttocks Tilting affected sequence of motion, the actuator motion value of response needs to keep balance or comfortable system, in the instruction being associated The period that group is judged by off-line.These according to size or the size range of two or more pre-judgements and/or incline based on two buttocks Rake angle and complete.By a special sequence of motion and a specific dimensions and/or tilt the motion maps that preference determined and then deposited Be stored in in order to operation WA during apply WA the memorizer being associated in.Or, one is used for judging suitably The algorithm of relevant actuator motion value is stored in the memorizer being associated with WA, by user in check and correction, and these numbers Value, for the sequence of motion being associated, judges according to reception and/or the inclination preference information of dimension information.For suitable motion Map, numerical value is then stored in memorizer.

During proofreading, control system accepts information that is relevant to user's size and/or that tilt preference, and selects according to information, At WA run duration, specific motion maps is with the sequence of motion selected by execution.

In a preferred embodiment, during proofreading, the scope of the size of the size of user pre-stored from system selects.In advance The size of storage preferably includes length and the weight of the lower limb of user.It addition, during proofreading, it is from two that user tilts preference Selecting in individual angle, buttocks tilts or buttocks does not tilts.Such as, table 6 shows one with one 12 pre-stored setting groups System, tilts preference (2 angles) based on the overall leg length of user (3 scopes), weight (2 scopes) and buttocks. The user of system will select a size closest to user's actual size in the range of being provided, and a preferable buttocks inclines Rake angle.The motion maps used of sequence of motion that system will then be determined to be affected by these attributes automatically. The quantity of any pre-stored size should be realized, tilt preference or other anatomical structure or user preference information can be according to ideal Resolution, memory span or other preferable design considerationss are provided.

Table 6: pre-stored sized data

The motion maps of some sequence of motions can change according to different alignment settings (A1-C4).Form 7-18 show in order to The motions of the different orders of dynamically marking time that (A1-C4) is set of balance/comfortable system are kept during being maintained at the order that performs to mark time Map.Table 19-24 shows in order to for keeping standing of balance/comfortable judged different alignment settings instruction the term of execution The motion maps of instruction.

Table 7:A1

Table 8:B1

Table 9:C1

Table 10:A2

Table 11:B2

Table 12:C2

Table 13:A3

Table 14:B3

Table 15:C3

Table 16:A4

Table 17:B4

Table 18:C4

Table 19:A1, A3

Table 20:A2, A4

Table 21:B1, B3

Table 22:B2, B4

Table 23:C1, C3

Table 24:C2, C4

In another embodiment, WA can be configured to receive the actual size about user and/or the input of gait preference in various degree Data, described input data are used for determining suitable motion diagram.Such as, first WA can determine a ginseng from the size prestored Examine size, the actual size that described reference dimension inputs closest to user, then determine suitably fortune according to above-mentioned reference dimension Cardon performs.It addition, described system can utilize one or more algorithm that prestores to determine suitably fortune from the correction data of input Cardon, described correction data is the internal organizational structure about user and/or gait preference.

Calibration phase can start automatically when dynamic start, or is started by inputting interface by user, or by user from the most long-range Wireless device starts.

4. power source

WA is driven by on-board batteries group (not shown).In a preferred embodiment, set of cells is positioned at the back side of hip framework.Electricity Cell system is a kind of low-voltage direct-current system, and described set of cells can be supplied by household electrical source or automobile power source supply is charged.For Quick-replaceable, set of cells is moveable.Set of cells can be charged when WA is airborne or after outside dismounting.

Electronic system can be by putting into and enter after hip framework 550 as shown in Figure 8, and described electronic system includes controlling System, electric machine controller, power source and/or other electronic equipments.

The aforementioned of the present invention includes described preferred form.It is defined in appended claim without departing from the amendment in the scope of the invention In.

Claims

1. an ectoskeleton, including: a length-adjustable leg member, it is pivotally connected to first other component in the first pivot location, There is a linear actuators, be connected between described leg member and described first other component, in order to the stretching, extension of described actuator Or retraction causes described leg member to rotate relative to described first other component；Wherein, described actuator connects position at actuator Putting and be connected to described leg member, this actuator link position separates along described leg member with described first pivot location, and And the regulation of described leg member length does not affect described leg member and is in described actuator link position and described first pivot position The length of the part between putting.

Ectoskeleton the most according to claim 1, it is characterised in that described leg member is pivotally connected to second in the second position Other component, and the one second actuator link position and described that one second linear actuators is connected in described leg member Between two other components, and the regulation of described leg member length does not affect described leg member and is in described second actuator even Connect the length of part between position and described second pivot location.

Ectoskeleton the most according to claim 2, it is characterised in that described leg member includes the first Leg portion and the second leg Part, described first Leg portion includes described first pivot location and described actuator link position, and described second leg portion Divide and include described second pivot location and described second actuator link position；Described first Leg portion and described second leg portion It is fixable for dividing in more than one relative position, to change between described first pivot location and described second pivot location Interval.

4. according to the ectoskeleton according to any one of claim 13, it is characterised in that include two lower limb structures, and each lower limb knot Structure includes a length-adjustable leg member.

5. comprising an ectoskeleton for leg structure, described leg structure comprises at least one length-adjustable leg member, each leg Component is connected to described ectoskeletal first other component pivotally at one end and is pivotally connected at the other end described ectoskeletal Second other component；Further, for each leg member, a linear actuators is connected to described lower limb from described first other component First actuator link position of portion's component, and a linear actuators is from the second actuator link position connection of described leg member To described second other component；And wherein, the regulation of described leg member length is limited in described leg member and is in described A region between first actuator link position and described second actuator link position.

Ectoskeleton the most according to claim 5, it is characterised in that described leg structure comprise a length-adjustable leg member and One length-adjustable little leg member, and wherein, described leg member is connected to pelvis support and pivotally at one end at the other end It is pivotally connected to described little leg member, and wherein, described little leg member is connected to described leg member also pivotally at one end It is pivotally connected to a foot part component at the other end.

Ectoskeleton the most according to claim 6, it is characterised in that also comprise the second leg structure, have one length-adjustable greatly Leg member and a length-adjustable little leg member.

8. an ectoskeleton, including a length-adjustable limb member, described limb member includes with the first pivotally connected position One Leg portion and there is the second Leg portion of the second pivotally connected position be put together, in order to they can relative to each other along Regulation line slides；And including a governor motion, described governor motion adjusts relative position regularly along described regulation line, with And include a locking mechanism, described locking mechanism independent of described governor motion, and fix further described first Leg portion and The relative position of described second Leg portion.

Ectoskeleton the most according to claim 8, it is characterised in that described regulation line is straight line.

The most according to claim 8 or claim 9, ectoskeleton, it is characterised in that described governor motion comprises a rotating shaft, this rotating shaft exists One end is connected with one of described first Leg portion or described second Leg portion and at the other end and another first Leg portion Or second the socket of Leg portion be connected, and, a kind of mechanism handle described rotating shaft or described socket or described rotating shaft and Socket, to regulate the position to axial of the described rotating shaft in described socket.

11. ectoskeletons according to claim 10, it is characterised in that described mechanism is not between described socket and described rotating shaft Active force responds.

12. ectoskeletons according to claim 11, it is characterised in that described mechanism is worm-drive, have rotatable input, For rotary worm and the worm gear being connected to, with rotating shaft；Worm gear described in described worm engaging.

13. ectoskeletons according to any one of 12 according to Claim 8, it is characterised in that described first Leg portion and described second lower limb Portion's part includes engaging guide rail component, and the bending roller force used is transferred between described engagement guide rail component, and, described lock Determining mechanism to be operable between the first state and a second state, in described first state, described guide rail component is pressed by it Together, in described second state, described guide rail component more freely slides.

14. ectoskeletons according to claim 13, it is characterised in that described locking mechanism is carried on described first Leg portion also And include the supporting surface towards described second Leg portion, and between the first position and the second position exercisable；Described Primary importance is corresponding with slidably state, and the described second position is corresponding with lock-out state；From described primary importance to institute Stating the second position described control bar of operation can promote described supporting surface to lean on described second Leg portion.

15. ectoskeletons according to claim 13, it is characterised in that described locking mechanism is from the locking of described first Leg portion Region extends, and described supporting surface is towards this ' locked ' zone of described first Leg portion, has the one of described second Leg portion Part is between the ' locked ' zone of described supporting surface and described first Leg portion.

16. ectoskeletons according to claim 15, it is characterised in that described control bar includes an over-center mechanism, in order to Closing the course of action of described control bar to latched position from unlocked position, originally required active force increases and then reduces.

The walking aid of 17. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One rigid bone basin stand component, for supporting the seat area of user,

Each in one first leg structure and one second leg structure, described first leg structure and described second leg structure by It is connected to described pelvis support and extends from described pelvis support, being used for supporting the corresponding lower limb of user, and, described first lower limb Each in portion's structure and described second leg structure comprises:

One thigh structural elements, for engaging the thigh of user, described thigh structural elements is pivotally connected by hip joint at its first end It is connected to described basin bone support element；

One shank structural elements, for engaging the shank of user, described shank structural elements is pivotally connected by knee joint at its first end It is connected to the second end of described thigh structural elements, and

One foot part component, for engaging the foot of user, described foot part component is pivotally connected to described shank structural elements by ankle joint The second end；

One main hip actuator, is at one end connected to a junction point on described basin bone support and is connected to described thigh knot at the other end The first junction point on structure component, is used for driving described thigh structural elements to revolve around described hip joint relative to pelvis support component Turn；

One knee actuator, is at one end connected to the second junction point on described thigh structural elements and is connected to described shank at the other end The first junction point on structural elements, is used for driving described shank structural elements relative to described thigh structural elements around described knee joint Joint rotates；

One main foot actuator, is at one end connected to the second junction point on described shank structural elements and is connected to described foot at the other end Junction point on portion's component, is used for driving described foot part component to rotate around described ankle joint relative to described shank structural elements； The governor motion being associated with described thigh structural elements, is arranged for regulating the length of described thigh structural elements and not changing Become the first junction point on the described thigh structural elements that the junction point on described basin bone support is associated with described hip actuator Between distance, and do not change the institute that the second junction point on described thigh structural elements is associated with described knee actuator State the distance between the first junction point on shank structural elements, and

The governor motion being associated with described shank structural elements, is arranged for regulating the length of described shank structural elements and not changing Become the junction point on the described foot part component that the second junction point on described shank structural elements is associated with described foot actuator Between distance.

18. 1 kinds of ectoskeletal structural foot components for walking aid, it is adaptable to supporting the disability user of action obstacle, it comprises Foot supporting zone, for being fixed therein the foot of user；Described foot supporting zone is relative to described ectoskeletal ankle joint Position be adjustable so that the ankle of user aligns along at least axis with described ankle joint.

19. structural foot components according to claim 18, it is characterised in that described foot supporting zone is relative to ankle joint Position is the most adjustable, aligns with at least one rotation axis by the ankle of user with described ectoskeletal ankle joint.

20. structural foot components according to claim 19, it is characterised in that described foot supporting zone is relative to ankle joint Position is the most adjustable, with by the ankle of user with the first of described ankle joint substantially transverse rotation axis and/or described The second of ankle joint longitudinally substantially rotation axis aligns.

21. according to the structural foot component according to any one of claim 18 20, it is characterised in that described foot supporting zone is relatively It is the most adjustable in described ankle joint along the position of two substantially orthogonal axis.

22. according to the structural foot component according to any one of claim 18 21, it is characterised in that described foot supporting zone relative to Described ankle joint is adjustable along a longitudinal axis of foot part component.

23. according to the structural foot component according to any one of claim 18 22, it is characterised in that described foot supporting zone relative to Described ankle joint is adjustable along a substantially vertical axis.

24. according to the structural foot component according to any one of claim 18 23, it is characterised in that described foot supporting zone is by least One side wall member is defined, and described side wall member is adjustable along at least axis, to regulate described supporting zone phase Position for described ankle joint.

25. structural foot components according to claim 24, it is characterised in that also including a pedestal, described side wall member is from institute State pedestal to extend out.

26. structural foot components according to claim 25, it is characterised in that described side wall member is a kind of heel supports, position In one end of described pedestal, for engaging the heel that user is used.

27. structural foot components according to claim 26, it is characterised in that described heel supports is indulging along described pedestal The position of axis is adjustable.

28. according to the structural foot component described in claim 25 or 27, it is characterised in that described heel supports is movably engaged Described pedestal in described foot part component.

29. structural foot components according to claim 28, it is characterised in that described heel supports is slidably engaged to described The described pedestal of foot part component.

30. structural foot components according to claim 29, it is characterised in that also include a securing member, in the first state and It is operable between second state；In described first state, described heel supports against described pedestal slidably, with phase Described ankle joint is regulated to the lengthwise position of described heel supports；In described second state, described heel supports is relative to institute State ankle joint to be locked into place.

31. according to the structural foot component according to any one of claim 18 30, it is characterised in that described foot supporting zone is further Defined by a supporting surface, for accommodating the foot of user thereon, described supporting surface relative to described ankle joint along at least The position of a piece axis is adjustable.

32. structural foot components according to claim 32, it is characterised in that described supporting surface is substantially vertical along one The position of axis is adjustable.

33. structural foot components according to claim 32, it is characterised in that also comprise one or more plate being stacked, It is arranged for engaging a pedestal of described foot part component, is used for regulating described supporting surface relative to described ankle joint along described vertical The position of axis, in use, stacked uppermost plate provides described supporting surface for described foot.

34. structural foot components according to claim 33, it is characterised in that the thickness of plate number and/or each plate can be by User selects, to regulate described supporting surface and the described ankle joint relative position in described longitudinal axis.

35. according to the structural foot component described in claim 33 or 34, it is characterised in that also comprise a pair wall, from described pedestal Both sides horizontal expansion, each wall has the inner peripheral surface of the outer peripheral face corresponding to the one or more plate, for accommodate therebetween Plate.

36. according to the structural foot component according to any one of claim 18 35, it is characterised in that described foot part component also comprises one Connector, is used for being connected to a described ectoskeletal ankle joint.

The walking aid of 37. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One rigid bone basin stand component, for supporting the seat area of user,

One shank structural elements, for engaging the shank of user, described shank structural elements is pivotally connected by knee joint at its first end It is connected to the second end of described thigh structural elements, so that described shank structural elements is bending relative to described thigh structural elements Rotate with direction of extension；

One foot part component, for engaging the foot of user, described foot part component is pivotally connected to described shank structural elements by ankle joint The second end, and, wherein said foot part component comprises a governor motion, for regulating the foot of this user relative to described ankle Joint is along the position of at least axis.

The walking aid of 38. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One first leg structure and one second leg structure；

Each in one first foot part component and one second foot part component, described first foot part component and described second foot part component is passed through One ankle joint is pivotably connected to one end of each leg structure, and wherein said foot part component comprises a governor motion, For regulating the foot position relative at least axis in described ankle joint edge of this user.

The walking aid of 39. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One rigid bone basin stand component, for supporting the seat area of user,

One shank structural elements, for engaging the shank of user, described shank structural elements is pivotally connected by knee joint at its first end It is connected to the second end of described thigh structural elements, so that described shank structural elements is bending relative to described thigh structural elements Rotate with direction of extension；And

One machinery knee block, places relative to described leg structure, and is arranged for limiting described shank structural elements relative to institute State thigh structural elements degree of rotation in direction of extension, to prevent described shank structural elements overextension.

40. according to the walking aid described in claim 39, it is characterised in that described knee block is arranged at neighbouring knee joint.

41. walking aids according to claim 40, it is characterised in that described knee block comprises at least one rigidity skewback, from The surface of described thigh structural elements highlights forward.

42. walking aids according to claim 41, it is characterised in that described shank structural elements comprises one and adjoins kneed prolonging Stretch end, be arranged for when rotating around described knee joint engaging described at least one rigidity skewback in direction of extension Position, in this position, the longitudinal axis of described shank structural elements is arranged essentially parallel to the longitudinal axis of described thigh structural elements Line, further rotates in direction of extension limiting described shank structural elements, and prevents the knee overextension of user.

43. walking aids according to claim 42, it is characterised in that described knee block comprises a pair adjacent rigid arch seat surface, Highlight forward from the surface of described thigh structural elements, and the elongated end of described shank structural elements comprises a U-clamp, has A pair rigid arm, each rigid arm is arranged for when described shank structural elements rotates around described knee joint in direction of extension Upper joint one corresponding skewback to position, in this position, the longitudinal axis of described shank structural elements is arranged essentially parallel to The longitudinal axis of described thigh structural elements.

44. according to the walking aid according to any one of claim 41 43, it is characterised in that described skewback and described thigh structural elements It it is one.

45. according to the walking aid described in claim 39, it is characterised in that described ectoskeletal each leg structure comprises one further Knee actuator, is at one end connected to described thigh structural elements and is connected to described shank structural elements in opposite end, with in institute Stating during actuator stretches and retracts causes described shank structural elements around described kneed rotation；Further, wherein said Knee block is a kind of rigidity skewback, is positioned in the path of actuator arm, and stretching, extension or retraction with limiting actuator are beyond causing making The degree of the knee overextension of user.

The walking aid of 46. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One rigid bone basin stand component, for supporting the seat area of user,

One machinery knee block, places relative to described leg structure, to stop described shank structural elements relative to described thigh structure Component is rotated out a position of rotation in direction of extension, and in this position of rotation, the orientation of described shank structural elements is basic On be parallel to the orientation of described thigh structural elements.

47. 1 kinds of ectoskeletons, include a kind of leg structure, and described leg structure has the first leg member, described first leg structure Part is pivotally connected to the second leg member by knee joint；And machinery knee block, place relative to described leg structure, To stop described second leg member to be rotated out a position of rotation in direction of extension relative to described first leg member, In this position of rotation, the orientation of described second leg member is arranged essentially parallel to the orientation of described first leg member.

48. 1 kinds of ectoskeletons, include a kind of leg structure, and described leg structure has the first leg member, described first leg structure Part is pivotally connected to the second leg member by knee joint；And machinery knee block, place relative to described leg structure, And it is arranged for limiting described second leg member journey relative to the rotation in direction of extension of described first leg member Degree, to prevent described shank structural elements overextension.

The walking aid of 49. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One rigid bone basin stand component, for supporting the seat area of user,

One thigh outer housing, is arranged for substantially closed described thigh structural elements, and has a pair telescopic upper cover part, uses In regulating the size of thigh outer housing according to the size of described thigh structural elements, and

One shank outer housing, is arranged for substantially closed described shank structural elements, and has a pair telescopic lower cover part, uses In regulating the size of shank outer housing according to the size of described shank structural elements, wherein, described shank outer housing is arranged for pivot Turn ground and connect the knee joint that described thigh outer housing is adjacent.

50. walking aids according to claim 49, it is characterised in that described thigh structural elements comprises one in position to axial To adjustable Leg portion, to regulate the length of described thigh structural elements, and wherein, this of described thigh outer housing is to stretching Contracting formula outer cover part is connected to this to Leg portion, in order to the length adjustment of described thigh structural elements is by telescopic upper cover part Divide in described thigh outer housing, cause corresponding regulation.

51. according to the walking aid described in claim 49 or 50, it is characterised in that described shank structural elements is in position to axial Comprise a pair adjustable Leg portion, to regulate the length of described shank structural elements, and wherein, described shank outer housing This is connected to this to Leg portion to telescopic outer cover part, in order to the length adjustment of described shank structural elements is by telescopic Lower cover part causes corresponding regulation in described shank outer housing.

52. walking aids according to claim 51, it is characterised in that described thigh outer housing comprises a recess, it is fixed to be arranged for This governor motion adjacent to Leg portion of position, to allow user to access described governor motion, to regulate described Leg portion Position to axial.

53. walking aids according to claim 52, it is characterised in that described shank outer housing comprises a recess, it is fixed to be arranged for This governor motion adjacent to Leg portion of position, to allow user to access described governor motion, to regulate described Leg portion Position to axial.

54. according to the walking aid according to any one of claim 49 53, it is characterised in that this of described thigh outer housing is to cover part One of them comprise a flange portion, be received in this correspondence to another part of cover part with being arranged for extension type End.

55. walking aids according to claim 54, it is characterised in that described flange portion comprises along indicating corresponding thigh knot The labelling of the part longitudinal arrangement of one or more sizes of structure component, described labelling is received in this to covering according to described flange portion The degree of another part of cover and be partly or completely exposed.

56. according to the walking aid according to any one of claim 49 55, it is characterised in that this of described shank outer housing is to cover part One of them comprise a flange portion, be received in this correspondence to another part of cover part with being arranged for extension type End.

57. walking aids according to claim 56, it is characterised in that described flange portion comprises along indicating corresponding shank knot The labelling of the part longitudinal arrangement of one or more sizes of structure component, described labelling is received in this to covering according to described flange portion The degree of another part of cover and be partly or completely exposed.

The walking aid of 58. 1 kinds of disability user being applicable to support action obstacle, includes a kind of ectoskeleton, and described ectoskeleton includes: One rigid bone basin stand component, for supporting the seat area of user,

One thigh outer housing, is arranged for substantially closed described thigh structural elements, and size adjustable, with mate on the spot described greatly The size of lower limb structural elements, and

One shank outer housing, is arranged for substantially closed described shank structural elements, and size adjustable, described little to mate on the spot The size of lower limb structural elements.

59. 1 kinds of ectoskeletons, comprise a kind of leg member, and described leg member has an outer housing, and described leg member and outer housing comprise There are two expansion members, to regulate the size of described outer housing to mate the size of described leg member.

60. 1 kinds are used for controlling ectoskeletal method, and one or more actuator, institute are worn and had to described ectoskeleton by user State actuator to be associated with described ectoskeletal each main component, each correspond to a part of this user health, described side Method comprises the steps of

Receive the input data indicating required mobile sequence；

From memorizer, select the mobile data of pre-programmed, the instruction of the mobile data of described pre-programmed realize needed for mobile sequence or The instruction of multiple orders；Every instruction is associated to the relevant mobile actuator for performing to instruct, wherein, and described pre-programmed Move the calibration information of the gait preference of data anatomic construction based on the person of being directed to use with and/or user and be chosen；According to often The relevant mobile actuator that bar instruction updates runs the one or more actuator.

61. methods according to claim 60, it is characterised in that be additionally included in and receive the input indicating required mobile sequence Step before data:

Reception indicates the anatomic construction of user and/or the calibration data of the gait preference of user.

62. methods according to claim 61, it is characterised in that the step of this calibration data includes the dissection from one group of pre-stored The gait preference of structure and/or one group of pre-stored selects.

63. according to the method according to any one of claim 60 62, it is characterised in that the packet of the anatomic construction of instruction user Include the data of the size indicating this user.

64. according to the method according to any one of claim 60 63, it is characterised in that indicate the data of the size of this user to include The lower limb length of instruction user and/or the data of the body weight of user.

65. according to the method according to any one of claim 60 64, it is characterised in that the packet of the gait preference of instruction user Include the data of the buttocks inclined degree indicating preference.

66. 1 kinds are used for controlling ectoskeletal method, and one or more actuator, institute are worn and had to described ectoskeleton by user State actuator to be associated with described ectoskeletal each main component, each correspond to a part of this user health, described cause Dynamic device is driven by moving map, and to realize relevant mobile sequence, described method comprises the steps of

For each in one or more mobile sequences determine one group be user obtain balance system moving map, each movably Figure relates to a kind of different anatomic construction and/or a kind of different gait preference, and

Being stored in memorizer by this group moving map according to each mobile sequence, wherein, each moving map includes indicating The data of relevant mobile actuator, it is one or more suitable that described relevant mobile actuator and execution realize needed for mobile sequence Sequence instruction is associated.

67. 1 kinds are used for controlling ectoskeletal control system, and described ectoskeleton is worn by user and has one or more actuator, Described actuator is associated with described ectoskeletal each main component, each corresponds to a part of this user health, described Control system comprises:

Calibration subsystem, is used for receiving calibration input data, and anatomic construction and/or the gait of described calibration input data instruction user are inclined Good；

User interface, for receiving the input data indicating desired mobile sequence；

Memory member, for storing the moving map of pre-programmed, described moving map comprises that instruction is one or more realizes mobile sequence The mobile data of required sequential instructions, every instruction is associated to relevant mobile actuator, is used for performing instruction；And its In, one or more mobile sequences comprise one group of moving map, each moving map in this group relate to specific anatomical structure and/ Or gait preference, and

Actuator control, for running the one or more actuator according to relevant mobile actuator for every instruction.

68. 1 kinds are used for controlling ectoskeletal method, and one or more actuator, institute are worn and had to described ectoskeleton by user State actuator to be associated with described ectoskeletal each main component, each correspond to a part of this user health, described side Method comprises the steps of

Receive indicate required mobile sequence wirelessly from the input data of remote-control device；

From memorizer, obtain the mobile data of pre-programmed, the instruction of the mobile data of described pre-programmed realize needed for mobile sequence or The instruction of multiple orders, every instruction is associated to the relevant mobile actuator for performing to instruct；

The one or more actuator is run for every instruction according to relevant mobile actuator.

69. 1 kinds are used for controlling ectoskeletal control system, and described ectoskeleton is worn by user and has one or more actuator, Described actuator is associated with described ectoskeletal each main component, each corresponds to a part of this user health, described Control system comprises:

Wireless receiver, is arranged for and inputs data communication and receive input data, described input data instruction needed for from tool There is the mobile sequence of the remote-control device of the transmitter that is associated；

Memory member, for storing the mobile data of pre-programmed, described mobile data indicate or many needed for realizing mobile sequence The instruction of individual order, every instruction is associated to the relevant mobile actuator for performing to instruct, and

70. 1 kinds of ectoskeletons, include:

One leg structure, has a length-adjustable leg member, is pivotally connected to first other component in the first pivot location, tool Have a linear actuators, be connected between described leg member and described first other component, in order to the stretching, extension of described actuator or Retraction causes described leg member to rotate relative to described first other component；Wherein, described actuator is at actuator link position Being connected to described leg member, this actuator link position separates along described leg member with described first pivot location, and The regulation of described leg member length does not affect described leg member and is in described actuator link position and described first pivot location Between the length of part；With

One structural foot component, described structural foot component is pivotally connected to described leg structure, described foot part component in ankle There is a foot supporting zone, for being fixed therein by the foot of user；Described foot supporting zone is relative to described ankle joint Position is adjustable, so that the ankle of user aligns along at least axis with described ankle joint.

71. 1 kinds of ectoskeletons comprising leg structure, described leg structure has a length-adjustable leg member, described leg member Including there is the first Leg portion of the first pivotally connected position and there is the second Leg portion of the second pivotally connected position, they Collectively form so that they relative to each other can slide along regulation line；And including a governor motion, described governor motion edge Described regulation line and regulate relative position regularly；And including a locking mechanism, described locking mechanism is independent of described regulation machine Structure, and fix the relative position of described first Leg portion and described second Leg portion further；And

72. 1 kinds of ectoskeletons, including:

One leg structure, described leg structure has a length-adjustable leg member, is pivotally connected to first in the first pivot location Other component, has a linear actuators, is connected between described leg member and described first other component, in order to described cause Stretching, extension or the retraction of dynamic device cause described leg member to rotate relative to described first other component；Wherein, described actuator is causing Dynamic device link position is connected to described leg member, and this actuator link position is along described leg member and described first pivot position Put and separate, and the regulation of described leg member length does not affect described leg member and is in described actuator link position with described The length of the part between the first pivot location；And

One outer housing, it is adaptable to leg member described in base closed, and comprise two expansion members size with the described outer housing of regulation, To mate the size of described leg member.

73. 1 kinds of ectoskeletons comprising leg structure, described leg structure has a length-adjustable leg member, described leg member Including there is the first Leg portion of the first pivotally connected position and there is the second Leg portion of the second pivotally connected position, they Collectively form so that they relative to each other can slide along regulation line；And including a governor motion, described governor motion edge Described regulation line and regulate relative position regularly；And including a locking mechanism, described locking mechanism is independent of described regulation machine Structure, and fix the relative position of described first Leg portion and described second Leg portion further；And

74. 1 kinds of ectoskeletons, including:

One leg structure, has a length-adjustable leg member, is pivotally connected to first other component in the first pivot location, tool Have a linear actuators, be connected between described leg member and described first other component, in order to the stretching, extension of described actuator or Retraction causes described leg member to rotate relative to described first other component；Described leg member is length-adjustable, to supplement The leg of user or limbs length；With

One is used for controlling described ectoskeletal control system, and described control system comprises:

Calibration subsystem, is used for receiving calibration input data, the anatomic construction of described calibration input data instruction user；

Memory member, for storing the moving map of pre-programmed, described moving map comprises that instruction is one or more realizes mobile sequence The mobile data of required sequential instructions, every instruction is associated to relevant mobile actuator, is used for performing instruction；And its In, one or more mobile sequences comprise one group of moving map, and each moving map in this group relates to specific anatomical structure, with And

Actuator control, for running described linear actuators according to relevant mobile actuator for every instruction.